Robust regulator problem for linear uncertain systems with state and control constraints

This work deals with the problem of robust constrained control for linear uncertain continuous time systems. State and control input are constrained to evolve within given sets. Minimization of the H∞ norm of closed loop transfer matrix between the exogenous input and the performance output is performed. Convex optimization is used to obtain the largest region of linear behavior. Illustrative examples are given to show the applicability of the method.