Controller design with actuator constraints

The infinite-horizon model predictive controller (IH-MPC) can globally stabilize discrete linear systems in the presence of actuator constraints as long as their eigenvalues lie in the closed unit disk. These conditions are proven to be necessary and sufficient, i.e., if the system cannot be stabilized by IH-MPC, then there exists no other stabilizing control law. Finally, the form of infinite-horizon optimal controller (IH-OC), which is a limiting case of IH-MPC, coupled with an asymptotic observer is shown to stabilize certain classes of linear systems with output feedback in the presence of asymptotically vanishing disturbances