Set invariance approach to H∞ control for input-saturated systems with disturbances

For input-saturated systems with disturbances, the states cannot converge to the origin, but only to their neighborhood. Aiming to design the smallest possible target invariant set, this paper introduces a set invariance approach to H_∞ control for achieving a smaller target invariant set within a given H_∞ performance level. A numerical example shows that the proposed methods afford better performance than conventional methods.