Guaranteed Cost Control for Systems with Saturating Actuators and Input Delays

Abstract

This paper considers guaranteed cost control problem for systems with saturating actuators and input delays. By using Razumikhin stability theorem, a linear state feedback control law is found, ensuring not only the closed-loop system's stability but guaranteed cost index. And the problem of designing the optimal guaranteed cost controller is converted to a convex optimization problem within the framework of linear matrix inequalities. Example is given to illustrate the effectiveness of the proposed result.