Control of linear systems with saturating actuators

This paper deals with the design of linear systems with saturating actuators where the actuator limitations have to be incorporated a priori into control design. We take a semiglobal approach to solve some of the central control problems for such systems. These problems include: stabilization, input-additive disturbance rejection and robust stabilization in the presence of matched nonlinear uncertainties. We develop further the semi-global design technology which was initiated in our earlier work and utilize it to deal with these control problems