Control of systems with actuator saturation non-linearities: an LMI approach

In this paper, we develop a static, full-state feedback and a dynamic, outp ut feedback control design framework for continuous-time, multivariable, li near, time-invariant systems subject to time-invariant, sector-bounded, inp ut non-linearities. The proposed framework directly accounts for robust sta bility and robust performance over the class of input non-linearities. Spec ifically, the problem of feedback control design in the presence of time-in variant, sector-bounded, input non-linearities is embedded within a Lure-Po stnikov Lyapunov function framework by constructing a set of linear-matrix- inequality conditions whose solution guarantees closed-loop asymptotic stab ility with guaranteed domains of attraction in the face of time-invariant, sector-bounded, actuator non-linearities. A detailed numerical algorithm is provided for solving the linear-matrix-inequality conditions arising in ac tuator saturation control. Three illustrative numerical examples are presen ted to demonstrate the effectiveness of the proposed approach.