Output feedback robust stabilization of uncertain linear systems with saturating controls

We present a local approach to the robust stabilization of a uncertain linear system subject to control saturation. That is, no assumption is made concerning open-loop stability and no a priori information is available regarding the domain of initial conditions. A quadratically stabilizing linear output feedback law and a safe set of initial conditions are determined using two design frameworks. The first one amounts to solve, under some conditions, two coupled AREs, while a second formulation using LMIs is shown to provide more flexibility. The main strength of our methods is that system inputs are allowed to saturate. Both approaches are widely discussed and two algorithms are described.