High performance design of controllers in the presence of saturation and uncertainty

Efficient design of automatic control systems is extremely important for the performance of complex high technology systems and for their cost-effective development. When trying to design a high performance controller one has to consider different kinds of constraints such as: actuator saturation, measurement noise, and unmodeled dynamics. There are many results available for each of these issues separately. However, one must consider them all at once for high performance controller design. In this paper we present a methodology that explicitly considers all the issues mentioned in designing a high performance controller