Computer aided control system design for multivariable systems with saturations

This paper outlines two different approaches to the design of linear time-invariant (LTI) multivariable control systems. Both design methods are relatively straightforward to formulate as linear programs (LP) and semidefinite programs (SDP) respectively. The implementation and solution of the corresponding optimization problems is a nontrivial task and requires extensive use of special software tools. After a brief review of the theoretical foundations, the computational difficulties arising in practice are demonstrated and discussed with the help of a detailed example