A result on the robust stabilization of MIMO plants with saturating actuators

This paper proposes the use of a time-varying sliding surface for stabilizing of linear, possibly unstable, plant subject to saturating actuators, in the presence of bounded matched uncertainties. The present work generalizes our previous contributions in several different directions. First, the constructive procedure is generalized and made independent on the null controllability region in the case of completely known plant. Another goal of the paper is to widen the set of plants considered including linear multi-input systems. Finally, a corollary of our main result is that we show that stabilization with bounded control of linear systems can be always achieved using nonlinear time-varying feedback laws.