Minimizing Oscillations for Magnitude and Rate-Saturated Discrete-Time Systems by a $D_{R}$ Region Pole Placement

This paper deals with controller design of discrete-time linear systems subject to magnitude and rate-saturated actuators. Thereby, oscillations are minimized by a pole placement within a convex approximation of the cardioid contour of constant damping. Stability is ensured by a quadratic Lyapunov function, whereby the nonlinear twofold actuator saturation is included in a convex hull. To design different controller types, a new iterative LMI method is presented. As an example, an observer-based structured state feedback is derived and the results are demonstrated and compared on two examples.