Static output feedback controllers for continuous-time and discrete-time systems with input non-linearities

In this paper we develop a static output feedback controller synthesis framework for continuous-time and discrete-time multivariable linear time-invariant systems subject to input time-varying non-linearities. The proposed framework directly accounts for robust stability and robust performance over the class of input non-linearities. Specifically, using a Riccati equation approach we develop a controller synthesis framework for constructing feedback controllers with a guaranteed domain of attraction for systems with input saturation non-linearities. The proposed design approach provides a systematic procedure for loop shaping and hence can account for classical design objectives within a modern multivariable control-system design framework. Several illustrative numerical examples are presented to demonstrate the effectiveness of the proposed approach.