ROBUST SWITCHING CONTROLLERS IN THE PRESENCE OF MODEL UNCERTAINTY AND SATURATION

Abstract. This paper considers the control of uncertain dynamic system in the presence of input saturation. The uncertaintes satisfay the matching con-ditions. Robust controller is based on combination of switching (picewise lin-ear LQ controller with prescribed degree of stability), low gain and high-gain (which is incorporated by multiplying the gains of switching controller with a scalling factor) and over-saturation. It is shown, using picewise quadratic Lyapunov function, that the uncertain system can be exponentially stabilized with prescribed exponential rate. Key Words. Actuator saturation, low-and-high gain feedback, picewise con-trol, over-saturation, robust stability. 1