Stabilization of nonlinear systems subject to uncertainties and actuator saturation

This paper deals with nonlinear systems control with input saturation and parametric uncertainties. The considered nonlinear systems are represented by Takagi-Sugeno models. The proposed controller is a parallel distributed compensation state feedback. Stabilization conditions are derived with the Lyapunov method and expressed as an optimization problem under linear matrix inequality (LMI) constraints. The obtained controller gains depend on the saturation limits. The descriptor approach for modelling is also applied to reduce the number of LMI. An academic example is presented with a comparison between the proposed approach and a conventional controller.