Dynamic Output Feedback for Discrete-Time Systems under Amplitude and Rate Actuator Constraints

The aim of this work is the proposition of a technique for the design of stabilizing dynamic output feedback controllers for discrete-time linear systems with rate and amplitude saturating actuators. The nonlinear effects introduced by the saturations in the closed-loop system are taken into account by using a generalized sector condition, which allows to propose theoretical conditions to solve the problem directly in the form of linear matrix inequalities (LMIs). From these conditions, convex optimization problems to the determination of the controller in order to address the synthesis requirements are proposed. In addition to the asymptotic stability requirement, two implicit design objectives are considered: the maximization of the region of attraction of the closed-loop system and the guarantee of a certain degree of time-domain performance for the system operation in a neighborhood of the origin (equilibrium point). A numerical example is provided to illustrate the application of the proposed method.