DYNAMIC OUTPUT-FEEDBACK COMPENSATION FOR LINEAR-SYSTEMS WITH INDEPENDENT AMPLITUDE AND RATE SATURATIONS

The positive real lemma provides the basis for constructing linear out put feedback dynamic compensators for multi-input plants with independ ent amplitude saturations. Fixed-structure techniques are used to obta in full- and reduced-order feedback compensators along with a guarante ed domain of attraction. These results are then applied to the problem of rate saturation. By using a, feedback-type model, rate saturation is modelled as an amplitude saturation. The closed-loop system with am plitude and rate saturation is then treated as a system with independe nt 'amplitude' saturations.