Stability and disturbance tolerance for linear systems with bounded controls

This paper addresses the problem of stabilization of linear systems subject to both model uncertainties, additive disturbance and input limits. A design technique, based both on the solution of a τ-parameterized family of Riccati equations and the use of the S-procedure, is proposed to compute a piecewise linear state feedback control law. The links and tradeoffs between tolerance to the additive disturbance and the size of the region where it is possible to guarantee the stability are discussed.