LMI based control of a class of uncertain nonlinear systems with input rate saturation

Abstract

Some systems suffer from not only input saturation but also input rate saturation due to special need or actuator limitation. This paper investigates the regulation control of a class of uncertain nonlinear systems with input rate saturation. By transformation, the rate saturation of input can be converted to the state and input constraints of certain linear systems. An LMI based method can then be introduced and improved to solve the transformed problem. The optimized state-feedback controller is robust to parametric uncertainties. It can guarantee the exponential stability of the original system without external disturbances, and can make the state trajectories exponentially converge to a defined region with external disturbances. Simulation results are presented to demonstrate the effectiveness of the proposed control scheme.