Robust output-regulation for uncertain linear systems with input saturation

Ariana Gutiérrez, Héctor Ríos, Manuel Mera

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The aim of this study is to design a robust output-based control to regulate the output for a class of linear systems with input saturation and affected by parameter uncertainties and external disturbances. The proposed robust control approach is composed of a homogeneous observer and a linear control law. The design and convergence analysis of the homogeneous observer is based on the implicit Lyapunov function theorem guaranteeing the finite-time convergence of the state estimation error to a neighbourhood of the origin. The linear control law, that uses the estimated states and takes into account the saturated input constraint, is designed based on the attractive ellipsoid method and a barrier Lyapunov function approach. The synthesis of the robust-output based control is given in terms of linear matrix inequalities. Simulation results are presented to illustrate the feasibility of the proposed robust control approach.

Original languageEnglish
Pages (from-to)2372-2384
Number of pages13
JournalIET Control Theory and Applications
Issue number16
StatePublished - 5 Nov 2020
Externally publishedYes

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© The Institution of Engineering and Technology 2020


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