Fixed-structure controller design for systems with actuator amplitude and rate nonlinearities

In this paper we develop fixed-order (i.e., full- and reduced-order) dynamic output feedback compensators for systems with actuator amplitude and rate saturation constraints. The proposed design methodology employs a rate limiter as part of the controller architecture. The problem of simultaneous control amplitude and rate saturation is embedded within an optimization problem by constructing a Riccati equation whose solution guarantees closed-loop global asymptotic stability in the face of sector bounded actuator amplitude and rate nonlinearities. Application of the proposed framework is demonstrated via a numerical example