Parameter Selection Procedure for an Amplitude- and Rate-saturated Controller

Abstract

This paper presents a selection procedure to obtain parameter values of the authors’ previously proposed amplitude- and rate-saturated controller. This controller employs a state-dependent parameter that enlarges the region of attraction when the state is far from the origin and shrinks the finite-time attractor when the state is close to the origin. The proposed selection procedure involves a set of linear matrix inequalities and also includes iterative computation. Two numerical examples for stable and unstable systems show the effectiveness of the proposed selection procedure.