Derivative feedback control of nonlinear systems with uncertain equilibrium states and actuator constraints

In this paper, we study the local stabilization of nonlinear systems with uncertain equilibrium states and in presence actuator constraints. We propose a derivative feedback control scheme to stabilize system, drive system its true state even when location such is uncertain. Actuator constraints are also considered stability conditions derived for cases output energy bounded, subject saturation. Stability form matrix inequalities both constraints, numerical methods discussed synthesize feasible solutions. The effectiveness proposed method illustrated by example, experimentally demonstrated through magnetic levitation test rig.