Fast robust stabilization by saturating output feedback of uncertain linear systems with input constraints

This paper proposes an LMI-based design algorithm for saturating output feedback controllers that are robust with respect to parametric uncertainties in the system model. The algorithm is based on the determination of a feasible solution by solving a conservative relaxation of the problem. This feasible solution is then optimized using a procedure known as path following, which sequentially optimizes a local linearization of the problem. The algorithm relies on available numerical convex optimization techniques and is demonstrated by a numerical example.