Actuator amplitude saturation control for systems with exogenous disturbances

We have developed fixed-order (i.e. full- and reduced-order) controllers for systems with actuator amplitude constraints and exogenous bounded energy L₂ disturbances. The actuator amplitude saturation and disturbance rejection constraints were embedded within an optimization problem by constructing a Riccati equation whose solution guaranteed closed-loop global asymptotic stability in the face of sector-bounded input nonlinearities and non-expansivity (gain boundedness) of the input-output system energy. The efficacy of the proposed framework is demonstrated via a numerical example.