Linear feedback control input under actuator saturation: a Takagi-Sugeno approach

In this paper, the Takagi-Sugeno representation is used to represent the nonlinear behaviour of a saturated actuator. The control design is based on a state feedback controller function of the saturation levels. Stabilization conditions in the sense of Lyapunov method are derived and expressed as a linear matrix inequality problem. An academic example is presented with a comparaison between the proposed approach and a conventional anti-windup controller.

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