Regulator constrained control and rate problem for linear systems with additive disturbances

This paper is devoted to the control of linear systems with constrained control and rate with additive disturbances. Necessary and sufficient conditions such that the system evolution respects rate constraints are used to derive stabilizing feedback control. The control law respects both constraints on control and its rate and is robust against additive bounded disturbances. An application to a surface mount robot, where the Y-axis of the machine uses a typical ball screw transmission driven by a DC motor to position circuits boards is achieved.