Piecewise control for systems with input saturation and disturbances

This paper proposes an efficient control law for systems with input saturation and external disturbances bounded in magnitude. Specifically, to achieve a better performance than the existing results in the literature, this paper designs a piecewise saturating control (PSC) law which makes it possible to address the following two goals separately: stronger disturbance attenuation ability and larger region of attraction. Here, the required design conditions are formulated in terms of linear matrix inequalities (LMIs) with one prescribed scalar, whose solutions are used in implementing the PCS law depending on the switching sets.