Robust stabilization of a delay system with saturating actuator or sensor

This paper deals with the robust stabilization of delay systems e(-sh)R(s) (R being a rational linear system) equipped with a saturating actuator or s ensor. The main result is the characterization of all stabilizing controlle rs for a delay system with saturating actuator. We also investigate the par ticular case of a BIBO-stable delay system equipped with a saturation at th e output and determine two families of stabilizing controllers. In each cas e, we analyse the robustness properties of these controllers relative to co prime factor perturbations on the plant, and determine explicit robustness margins. Copyright (C) 2000 John Wiley & Sons, Ltd.