Abstract
This paper is concerned with the problem of robust stabilization of linear differential inclusions (LDIs) subject to actuator saturation. A family of continuous controllers based on a parameter-dependent quadratic Lyapunov function (LF) are designed for a given worst-case disturbance while complying the saturation bounds. Based on the closed-loop behavior, the controller is selected such that the system has the best performance at each time. The internal stability and guaranteed performance can be obtained simultaneously through the dynamic gain scheduled control law. The benefit of the proposed scheme is presented via a numerical example.
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