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

摘要

In this -paper, we develop a static, full-state feedback and a dynamic, -output feedback control design framework for continuous-time, multivariable, linear, time-invariant systems subject to time-invariant, sector-bounded, input non-linearities. The proposed framework directly accounts for robust stability and robust performance over the class of input non-linearities. Specifically, the problem of feedback control design in the presence of t time-invariant, sector-bounded, input non-linearities is embedded within a Lure-Postnikov Lyapunov function framework by constructing a set of linearmatrix-inequality conditions whose solution guarantees closed-loop asyinptotic stability with guaranteed domains of attraction in the face of time-invariant, sector-bounded, actuator non-liinearities. A detailed numerical algorithm is provided for solving the linear-matrix-inequality conditions arising in actuator saturation control. Three illustrative numerical examples are presented to demonstrate the effectiveness of the proposed approach.