In this technical brief, the stabilization of an uncertain system with a saturating actuator and an additive disturbance is discussed. The uncertainties and the additive disturbances may be linear, nonlinear, and/or time-varying, but only the upper bounds are assumed known. A linear state feedback control law stabilizes the uncertain system with additive disturbance, and guarantees that, ultimately, the system response lies in a neighborhood of the origin. But the neighborhood cannot be arbitrarily made small by the linear state feedback controller. The proposed approach does not need the solution of a Lyapunov equation or a Riccati equation, therefore the computational burden can be decreased. An example illustrates the application of the proposed method.
Stabilizing Controllers for Uncertain Linear Saturating Systems With Additive Disturbances
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Chou, J., and Horng, I. (June 1, 1991). "Stabilizing Controllers for Uncertain Linear Saturating Systems With Additive Disturbances." ASME. J. Dyn. Sys., Meas., Control. June 1991; 113(2): 334–336. https://doi.org/10.1115/1.2896388
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