Controller design for linear unstable systems with position and rate actuator saturation

This paper focuses on the stabilization problem of linear systems subject to control amplitude and rate saturation. The considered saturating actuator is a first order system subject to input saturation and speed saturation. Some conditions for the stability of the closed-loop system despite the occurrence of saturations are formulated in terms of matrix inequalities. The closed-loop performances are also discussed. Some numerical examples are provided in order to illustrate the techniques developed.