Fixed-structure controller design for systems with actuator amplitude and rate non-linearities

In this paper we develop output feedback controllers and fixed-order (i.e., full- and reduced-order) dynamic compensators for systems with actuator am plitude and rate saturation constraints. The proposed design methodology em ploys a rate limiter as part of the controller architecture. The problem of simultaneous control amplitude and rate saturation is embedded within an o ptimization problem by constructing a Riccati equation whose solution guara ntees closed-loop global/local asymptotic stability in the face of sector b ounded actuator amplitude and rate non-linearities. Application of the prop osed framework is demonstrated via a flight control example involving actua tor amplitude and rate saturation constraints.