Analysis and synthesis of robust static output feedback control subject to actuator saturation

In this article, static output feedback (SOF) control analysis and synthesis are conducted for a linear continuous-time system subject to actuator saturation with the H∞ setting. Typically, the SOF problem is nonconvex; the existence of SOF control can be expressed in terms of the solvability of bilinear matrix inequalities. The actuator saturation problem is also considered since the driving capacity of an actuator is limited in practical applications. Using the singular value decomposition approach, the H∞ SOF controller design problem with actuator saturation can be expressed in terms of an eigenvalue problem (EVP) which can be efficiently solved using the LMI toolbox in Matlab. The balance between the minimization of the attenuation level of the H∞ performance and the maximisation of the estimation of the domain of attraction is considered in our approach via solving the corresponding EVP. To illustrate the proposed design procedure for two types of prescribing shape reference set, two numerical examples are included.