Piecewise-Linear Robust Control of Systems with Input Constraints

Robust stabilization of an uncertain system subject to input constraints is addressed without making open-loop stability assumptions. A local approach is taken to nd a robust control law and a set of initial conditions that can be stabilized. A piecewise-linear control law is described. It is generated by a parametrized algebraic Riccati equation of the H 1 control theory. Once system trajectories are suuciently close to the origin, a certain performance level is ensured through a guaranteed cost control. A simple and tractable design algorithm is proposed and illustrated by a numerical example.