A switching control approach for linear systems subject to asymmetric actuator saturation

In this paper, we study the saturation control problem for linear time-invariant (LTI) systems subject to asymmetric actuator saturation under a switching control framework. The LTI plant with asymmetric saturation is first transformed to an equivalent switched linear model with each subsystem subject to symmetric actuator saturation, based on which a switching controller robust against arbitrary switching is then designed by using a common Lyapunov function approach. The controller synthesis conditions are formulated in terms of linear matrix inequalities (LMIs). The application to an inverted pendulum is also given to illustrate the effectiveness and advantages of the proposed approach.