Pseudo-linear controllers for systems with saturated actuators

The design of controllers with a pseudo-linear structure for continuous and discrete-time systems under actuator saturation is considered. The proposed method is based on a practical optimisation framework, and in general can be applied in combination with different control system designs. As an example, a particular class of H₂-type fixed-order anti-windup dynamic controllers is considered in detail. The method is illustrated by its application to a high-powered laser example.