LMI-based control of linear systems with actuator amplitude and rate nonlinearities

This paper addresses the control design problem for linear systems subject to actuator amplitude and rate saturation. Motivated by the desire to provide efficient computational algorithms for the actuator amplitude and rate saturation control design, we develop linear matrix inequality (LMI) formulations for the full-state feedback and dynamic, output feedback actuator saturation control. We also provide a direct methodology to determine the stability multipliers that are essential reducing the conservatism of the weighted circle criterion-based saturation control design. A detailed numerical algorithm for computing the LMI-based actuator amplitude and rate saturation controllers is also included. Finally, a numerical example is given to illustrate the proposed control design framework