Semi-global stabilization with guaranteed regional performance of linear systems subject to actuator saturation

For a linear system under a given saturated linear feedback, we propose feedback laws that achieve semi-global stabilization on the null controllable region while preserving the performance of the original feedback law in a fixed region. Here, by semi-global stabilization on the null controllable region we mean the design of feedback laws that result in a domain of attraction that includes any a priori given compact subset of the null controllable region. Our design guarantees that the region on which the original performance is preserved would not shrink as the domain of attraction is enlarged by appropriately adjusting the feedback laws. Both continuous-time and discrete-time systems are considered