Local control design for systems with saturating actuators using the Popov criteria

Details local control design approaches for systems with actuators that are subject to saturation. Three design algorithms are presented which produce output feedback controllers that either maximize regions of attraction, maximize disturbance rejection, or optimize an L/sub 2/-gain performance metric. In all cases, the stability analyses are based on the Popov stability criterion and the design techniques are given in terms of LMI/BMI algorithms that are readily solved with available software.