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. The authors take a semiglobal approach to solve some of the central control problems for such systems. These problems include stabilization, input-additive disturbance rejection, and robust stabilization in the presence of matched nonlinear uncertainties. The authors develop further the semiglobal design technology which was initiated in their earlier work (Lin and Saberi, 1995) and utilize it to deal with these control problems