포화 구동기를 갖는 선형 시스템의 $H_{\infty}$ 제어기 설계

$H_{\infty}$ Controller Design of Linear Systems with Saturating Actuators

In this paper, we consider the design of a state feedback $H_{\infty}$ controller for uncertain linear systems with saturating actuators. We consider a general saturating actuator and employ the additive decomposition to deal with it effectively. And the considered uncertainty is the unstructured uncertainty which is only known its norm bound. Based on Linear Matrix Inequality(LMI) techniques, we present a condition on designing a controller that guarantees the $L_2$ gain, from the noise to the output, is not greater than a given value. A controller is obtained by checking the feasibility of three LMI's, and this can be easily done by well-known control package. Finally, we show the usefulness of our result by a numerical example.