Gain scheduling output feedback controller design for saturated linear plants

In this paper, we will study the control design problem for linear systems subject to actuator saturations from a gain-scheduling perspective. A feedback controller, expressed in the form of linear fractional transformation, is proposed to guarantee stability of the closed-loop system as well as providing disturbance/error attenuation measured in L₂ norm. The synthesis condition is cast as a convex optimization problem in terms of linear matrix inequalities (LMIs) and can be solved efficiently. Numerical examples are provided to demonstrate the proposed saturation control approach.