Optimal l∞ Disturbance Rejection and Global Stabilization of Linear Systems with Saturating Control

Abstract

This papers addresses the problem of globally minimizing the worst case response to persistent l∞ bounded disturbances in linear systems with bounded control action. We propose a linear-like feedback control law with state-dependent gains such that the resulting dosed-loop system is globally stable and provides the best possible l∞ attenuation in every neighborhood of the origin.