Guaranteed Cost Control of Uncertain Systems Subject to Actuator Saturation

In this paper, the problem of guaranteed cost control (GCC) for some classes of uncertain nonlinear systems is considered. In particular, the paper considers the problem of GCC for uncertain systems subject to actuator saturation and proposes an LMI-based condition for GCC design, which admits norm-bounded uncertainties and some classes of nonlinearities. The resulting LMI condition is further used for solving a convex optimization problem which minimizes the upper-bound of a cost function associated with the given systems. The solution leads to a state-feedback controller that minimizes the upper-bound of the cost function in the presence of uncertainties and actuator saturation. The effectiveness and applicability of the proposed method is illustrated by simulation examples