Output feedback robust stabilization of uncertain linear systems with saturating controls: an LMI approach

The problem of robust controller design is addressed for an uncertain linear system subject to control saturation. No assumption is made concerning open-loop stability, and no a priori information is available regarding the domain of stability. A saturating linear output feedback law and a safe set of initial conditions are determined using a heuristic based on iterative LMI relaxation procedures. A readily implementable algorithm based on standard numerical techniques is described and illustrated on two numerical examples