L2, H2 guaranteed-cost control of LPV systems with saturating actuators

The design problem of mixed L₂, H₂ gain scheduling nonlinear state feedback controller for Linear Parameter Varying (LPV) systems subjected to actuator saturations and L₂ bounded disturbances is considered. First, a new formulation of H₂ controllers has been presented based on the homogeneous polynomial parameter dependent (HPPD) representation. Then a systematic procedure to generate a sequence of LMI conditions of increasing precision for obtaining a sub-optimal L₂, H₂ state-feedback controller for LPV systems subject to actuator saturations and L₂-bounded disturbances, has been presented. The presented method utilizes the modified sector condition for actuator saturation formalization and HPPD representation of LPV systems.