and E.B.Castelan, ”Robust invariant controllers for constrained linear systems

A state-feedback eigenstructure assignment method is described for providing a robust solution to some linear regulation problems under constraints on the state or on the input vector. The main result is that if the initial state vector belongs to a particular bounded set, the trajectories emanating from it will respect the constraints in a robust way, that is even if the system dynamics are slightly perturbed. 1