Control design for LPV systems with input saturation and state constraints: An application to a semi-active suspension

This paper proposes a control design strategy for LPV systems subject to additive disturbances in the presence of actuator saturation and state constraints. LMI conditions are derived in order to simultaneously compute an LPV controller and an anti-windup gain that ensures the boundedness of the trajectories, considering that the disturbances belong to a given admissible set. The disturbance attenuation is addressed via an H
∞
constraint. Besides, state constraints (corresponding to the local validity of the LPV model and system structural limits) are always assured. The theoretical results are applied to a quarter-car model rewritten in the LPV framework where the passivity constraint is recast to the saturation one. The interest of the provided methodology is emphasized by simulations.