Global control of linear systems with saturating actuators

This paper deals with the design of linear systems with saturating actuators where the actuator limitations have to be incorporated a priori into control design. We develop a scheduled low-and-high gain design technique to solve several central control problems for such systems. These problems include: global asymptotic stabilization, global input-additive disturbance rejection, and robust global asymptotic stabilization and robust global disturbance rejection in the presence of matched nonlinear uncertainties