Convexified robust control approach and its application to actuator saturation control

We study a convexified robust control problem and its application to actuator saturation control. It has been shown that the robust control synthesis condition becomes convex under a special controller structure. Moreover, for this class of robust control problem, the gain-scheduling control based on scaled small-gain condition does not provide any performance improvement over convexified robust controllers. Based on this observation, a convexified robust control synthesis framework with stringent performance and computational efficacy is proposed. The convexified robust control approach is very useful to develop saturation control schemes in convex form.