Robust combined PLC/LHG controller with allowed over-saturation of the input signal

Much of the prior work on control of linear systems with saturating actuators has centred on how to switch linear controllers so as to avoid saturation occurring. This, however, has meant that the full input authority is not exploited. Recently, two alternative methods have been proposed for switching linear controllers so as to force the input into saturation. They achieve this goal by scaling the controls or by allowing over-saturation in the switching regions. In this paper, these methods are combined in a more general robust scheme, which is capable of achieving superior performance in the presence of model uncertainty