Piecewise-linear robust control of systems with input constraints

Robust stabilisation of an uncertain system subject to input constraints is addressed without making open-loop stability assumptions. A local approach is taken to find a robust control law and a set of initial conditions that can be stabilised. A piecewise-linear control law is described. It is gene rated by a parametrised algebraic Riccati equation or a parametrised linear matrix inequality determinant maximisation problem. Once system trajectori es are sufficiently close to the origin, a certain performance level is ens ured through a guaranteed cost control. Simple and tractable design algorit hms are proposed and illustrated by a numerical example.