LMI-based control of discrete-time systems with actuator amplitude and rate nonlinearities

In this paper, we address the control design problem for discrete-time systems subject to actuator amplitude and rate saturation. In particular, we develop linear matrix inequality formulations for the full-state feedback and dynamic, output feedback control designs for discrete-time systems with simultaneous actuator amplitude and rate saturation. Furthermore, we provide a direct methodology to determine the stability multipliers that are essential for reducing the conservatism of the weighted circle criterion-based saturation control design. Finally, we give an illustrative numerical example to demonstrate the efficacy of the proposed control design framework