Design of $H_{\infty}$ Controllers for Linear Systems with Input Saturation

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

In this paper, we consider the design of gam scheduled controllers for linear systems with input saturation. We obtain a reachable set and a control gain, which guarantees that the controls are never saturated inside this reachable set and that the $L_2$ gain is minimized, from matrix inequalities. This proposed gain scheduled control gives better performance than that of static control case, and we present the simulation results to show the usefulness of the proposed control.