Gain scheduled control design for linear systems with saturating actuators and input-additive uncertainties

This paper studies the problem of designing the output feedback controller for linear systems with actuator saturation and input-additive uncertainties. Considering the advantages of the recently developed parametric Lyapunov equation based design method, a new reduced order observer-based output feedback controller is proposed to solve the robust stabilization problem. To apply the proposed gain scheduling approach, only a nonlinear equation is required to be solved. A numerical example illustrates the effectiveness of the proposed design method.