Synthesis of output feedback controllers for a class of nonlinear

parameter-varying discrete-time systems subject to actuators limitations

Eug enio B. Castelan, Valter J. S. Leite, M arcio F. Miranda and Vitor M. Moraes
AbstractWe present a methodology for computing output
feedback control laws for a class of nonlinear systems subject to
input saturations. This class of systems consists of a Lure type
nonlinear system with some time-varying parameters which are
assumed to be real-time available. Based on some tools from
the absolute stability theory, on a modied sector condition to
take into account input saturation effects, and on the concept
of contractive sets applied to a level set obtained from a
particular parameter dependent Lyapunov function, an LMI
framework is proposed to design dynamic output feedback
compensators. Two local stabilization strategies are considered:
i) with saturation avoidance, and ii) with saturating actuators.
In both cases, convex optimization problems are proposed to
compute the controllers matrices aiming at the maximization
of the basin of attraction.
I. INTRODUCTION
The design of most practical control systems requires to
consider the presence of certain dynamical characteristics
and practical constraints that are inherent to the plant, to
the actuators and to the sensors. To cope with the presence
of the nonlinearities due to the plant dynamics or induced
by the actuators limits, among the various existing nonlinear
control systems approaches, absolute stability theory has
been considered in the literature for analysis and synthe-
sis of the so-called Lure system [11] Furthermore, time-
varying parameters can also be considered using robust
control techniques for uncertain systems; in particular, if
the time-varying parameter is real-time available, parameter-
dependent control laws can be implemented. Besides that, the
control designer is faced to the necessity of using an output
feedback control law, which in most applications imply the
use of a dynamic output feedback controller. More recently,
the research on these topics has been intensied, mainly
due to the possibility of using the Linear Matrix Inequality
(LMI) framework and the existing efcient numerical tools
for computations [1].
Considering linear systems with saturating inputs, a large
amount of works can be found in the literature as, for
instance (see also references therein): [9] and [15], consid-
ering state feedback control laws; [6], [13], [16] and [18],
regarding dynamic output feedback controller synthesis; [7]
and [14], addressing the anti-windup synthesis. In the same
This work was partially supported by CAPES, CNPq and FAPEMIG
Brazil.
Eug enio B. Castelan and Vitor M. Moraes are with Departamento de
Automac ao e Sistemas, Universidade Federal de Santa Catarina, 88040-900,
Florian opolis (S.C.), Brazil, {eugenio,rattus}@das.ufsc.br
Valter J. S. Leite is with CEFETMG / Campus Divin opolis, Rua Monte
Santo 319, 35502-036, Divin opolis, MG, Brasil. valter@ieee.org
M arcio F. Miranda is with COLTEC / UFMG, Av. Ant onio Carlos 6627,
31270-010, Belo Horizonte, MG, Brazil. fantini@coltec.ufmg.br
line, LMI conditions have also been proposed to synthesize
stabilizing control laws for nonlinear systems subject to
actuator amplitude limitations and for which the dynamics
can be decomposed into the feedback interconnection of a
linear system with a sector bounded nonlinearity: [3], [4] for
precisely-known systems and [2], [10] for some uncertain
nonlinear systems.
Still in the context of nonlinear systems subject to control
saturations, the synthesis of a dynamic output feedback
controller has been considered in [5], for continuous and
time-invariant Lure systems. Inspired on the previous works,
the controller structure was composed by a time-invariant
compensator presenting the following inputs: the plant out-
put, an anti-windup term (related to the input saturation) and
the value of the sector bounded nonlinearity associated to the
plant dynamics. Differently from the BMI results proposed
in [12], the approach in [5] consider simultaneously the two
sector bounded nonlinearities and, furthermore, the proposed
stabilization conditions are stated in LMI forms.
In the this work, we present a methodology for the syn-
thesis of output feedback control laws for Lure type discrete-
time nonlinear systems with some time-varying parameters,
which are assumed to be real-time measurable, and subject
to actuators limitations. Thus, based on some tools from the
absolute stability theory and on a modied sector condition
to take into account input saturation effects, and using the
concept of contractive sets applied to a level set obtained
from a particular parameter dependent Lyapunov function,
an LMI framework is proposed to design the controller. The
obtained controller is called partially dependent of the time-
varying parameters, because only the matrices associated to
the controller state equation depend on the considered param-
eters. Two local stabilization strategies are considered: i) with
saturation avoidance, and ii) with saturating actuators, and
convex optimization problems are proposed to compute the
controller matrices aiming at the maximization of the basin
of attraction. Notice that a similar technique has been used in
[18], but in a different context where the plant is considered
to be linear time-invariant and a polytopic model is used to
model the saturations.
The paper is organized as follows. Section II presents
the problem. Preliminary concepts and results are presented
in section III. Section IV presents the local stabilization
conditions and two convex optimization problems for synthe-
sizing the compensators. The paper nishes with a numerical
example and a conclusion.
Notations. For two symmetric matrices, A and B, A>B means that AB
is positive denite. A

denotes the transpose of A. A

(i)
denotes the i
th
row
of matrix A. v
(i)
is the i
th
component of vector v. stands for symmetric
2010 American Control Conference
Marriott Waterfront, Baltimore, MD, USA
June 30-July 02, 2010
ThC09.5
978-1-4244-7427-1/10/$26.00 2010 AACC 4235
blocks; stands for an element that has no inuence on the development. I
n
denotes an n-dimensional identity matrix. diag(A, B) is the block-diagonal
matrix
_
A 0
0 B
_
.
II. PROBLEM FORMULATION
Consider a nonlinear discrete-time system with time-
varying parameters represented by:
x
k+1
= A(
k
)x
k
+G(
k
)(z
k
) +B(
k
) sat(u
k
)
z
k
= L(
k
)x
k
(1)
y
k
= Cx
k
where x
k

n
, u
k

m
, z
k

p
, y
k

q
, (.) :
p

p
and
k
is an available time-varying vector parameter belong-
ing to the unit simplex: ={
k

N
;
N

i=1

k(i)
=1 ,
k(i)

0}. The structure of the system matrices are assumed to be

of the form:
_
A(
k
) B(
k
) G(
k
) L

(
k
)

=
N

i=1

ki
_
A
i
B
i
G
i
L

(2)
and C
qn
, where the matrices A
i
, B
i
, G
i
and L
i
have
appropriate dimensions. The nonlinearity (.) veries the
cone bounded sector condition (.) [0, ], z
p
[11],
i.e.: there exists a symmetric positive denite matrix =

pp
such that

(z
k
)
1
[(z
k
) z
k
] 0 , z
k

p
, (0) = 0 (3)
where
pp
is any positive diagonal matrix:

= diag{
l
} ,
l
> 0, l = 1, . . . , p.
By denition, the nonlinearity (.) globally satises the
sector condition (3). Note that is given by the designer,
and assumed to be known in the sequel. On the other hand,
from the denition of , we see that (3) is veried if p
independent classical conditions,

(l)
(z
k
)[(z
k
) z
k
]
(l)

0, are also veried. Thus, represents a degree-of-freedom
(then an optimization parameter).
The control inputs are bounded in amplitude, and the
standard saturation function is considered:
sat(u
()
(t)) = sign(u
()
(t)) min(
()
, |u
()
(t)|) (4)
= 1, . . . , m, where
()
> 0 denotes the symmetric ampli-
tude bound relative to the -th control.
Throughout this work, we assume that the parameter
vector,
k
, is real-time available. Thus, the considered output
feedback nonlinear controller has the following structure, that
partially depends on the parameter varying vector:
x
ck+1
= A
c
(
k
)x
ck
+B
c
(
k
)y
k
+
G
c
(
k
)(z
k
) +E
c
(
k
)(u
k
) (5)
u
k
= C
c
x
ck
+D
c
y
k
+F
c
(z
k
)
where x
ck

nn
and (.) :
m

m
is the dead-zone
nonlinearity, given by:
(u
k
) = u
k
sat(u
k
) (6)
The controller parameter-varying matrices are structured as
follows:
_
A
c
(
k
) B
c
(
k
) G
c
(
k
) E
c
(
k
)

=
N

i=1

k(i)
_
A
ci
B
ci
G
ci
E
ci

(7)
where: A
ci

nn
, B
ci

nq
, G
ci

np
and E
ci

nm
.
Furthermore, the real constant matrices associated to the
output of the controller are such that: C
c

mn
, D
c

mq
and F
c

mp
. Notice that with G
c
(
k
) = 0 k and F
c
= 0,
the above feedback controller requires either the knowledge
of (.) or its availability as a signal. Also, E
c
(
k
) is
a parameter-varying anti-windup gain matrix that helps to
mitigate the effects of the control inputs saturation. Notice
that the anti-windup term acts only when saturation occurs,
i.e. (u
k
) = 0.
Let us dene the augmented state vector
k
=
_
x

k
x

ck

2n
and the augmented state feedback matrix
K
m2n
:
K=
_
D
c
C C
c

(8)
Thus, from (1)-(8), we represent the closed-loop system by:
_
_
_

k+1
= A(
k
)
k
+G(
k
)(z
k
) B(
k
)(u
k
)
z
k
= L(
k
)
k
u
k
= K
k
+F
c
(z
k
)
(9)
where:
_
A(
k
) G(
k
) B(
k
) L

(
k
)

=
N

i=1

k(i)
_
A
i
G
i
B
i
L

with, by denition:
A
i
=
_
A
i
+B
i
D
c
C B
i
C
c
B
ci
C A
ci
_
, G
i
=
_
G
i
+B
i
F
c
G
ci
_
,
B
i
=
_
B
i
E
ci
_
, L
i
=
_
L
i
0

.
In the sequel, we propose solutions for the following
constrained control problem:
Problem 1: Determine feedback gain matrices
A
ci
, B
ci
, C
c
, D
c
, E
ci
, F
c
, G
ci
and a region S
0

n
,
as large as possible, such that the origin of the closed-loop
system (9) is asymptotically stable for any initial condition
x
0
S
0
and for any (.) verifying the sector condition (3).
For practical purposes, the designer can also be inter-
ested in guaranteeing a certain degree of performance, to
be dened in the sequel, for the closed-loop trajectories
emanating from S
0
. Thus, it is due the presence of limits
on the control variables, the parameter varying nature of the
considered nonlinear system and the performance require-
ment, that the closed-loop stability properties are studied in
the Local Asymptotic (LA-) Stability context. Thus, two types
of solutions for Problem 1 will be studied and compared in
the sequel:
1st) to obtain LA-Stability with saturation avoidance, i.e.
the control constraint, |u
k
| , has to be respected for any
trajectory emanating from S
0
; and
2nd) to obtain LA-Stability with saturating actuators, i.e.
|u
k
| > is admitted for trajectories emanating from S
0
.
Furthermore, an implicit objective in the synthesis of the
compensators gains and determination of S
0
, is to maximize
4236
the size of the basin of attraction of the closed-loop system.
III. PRELIMINARY RESULTS
Consider a parameter dependent Lyapunov function
(PDLF) V(
k
,
k
) :
2n
. The level set associated
to V(
k
,
k
) is given by
L
V

={
k

2n
; V(
k
,
k
) 1 ,
k
} (10)
The following denition of contractivity [11] is adapted
to consider the parameter uncertainties, the sector bounded
characterization of (.), and a degree of performance.
Denition 2: Consider a real scalar (0, 1]. The level
set L
V
is robustly absolutely -contractive, with respect to
the trajectories of system (9), if
V

(
k
,
k
)

= V(
k+1
,
k+1
) V(
k
,
k
) < 0 (11)

k
L
V
, (.) [0, ] and
k
.
In the sequel, we consider the PDLF of the form
V(
k
,
k
) =

k
Q
1
(
k
)
k
(12)
where Q(
k
) =
N

i=1

k(i)
Q
i
, Q
i
=Q

i
>0, with Q
i

2n2n
.
Thus, we have that the level set obtained from (12) and (10)
is the intersection of ellipsoidal sets [8], [10]:
L
V

= E(Q
1
(
k
)) =

i=1,...,N
E
_
Q
1
i
_
(13)
where, for i = 1, . . . , N :
E(Q
1
i
) ={
k

2n
;

k
Q
1
i

k
1} (14)
Let us also consider a (parameter-dependent) polyhedral
set given by:
S(,
k
) =
_

k

2n
and (z
k
)
p
; (15)
|
1
(
k
)
k
+
2
(
k
)(z
k
)| ,
k
}
where, by denition:
_

1
(
k
)
2
(
k
)

N
i=1

k(i)
_

1i

2i

, with
1i

m2n
,
2i

mp
.
The following lemma describes an inclusion condition
which is instrumental to apply the modied sector condition
associated to the dead-zone nonlinearity, in the derivation of
the desired LMI stability and stabilization results
1
.
Lemma 3: Given the sets E
_
Q
1
()
_
and S(, ), the
inclusion E
_
Q
1
()
_
S(, ) is obtained for any (.)
verifying the sector condition (3), if there exist U
2n2n
and a positive diagonal matrix
pp
such that:
_

_
Q
i
+U

+U U

i
U

1i()
2

2i()

2
()
_

_ 0, (16)
i = 1, . . . , N and = 1, . . . , m.
Furthermore, by setting
_
Y
1
() Y
2
()

=
1
For the sake of space, we omit in the sequel: i) the indice k in various
expressions; and ii) the proofs of the proposed results, which can be
requested to the corresponding author.
_
K
1
() F
c

2
()

, inequalities (16) imply

(u)

S
1
((u) Y
1
()Y
2
()(z)) 0 (17)
for all E
_
Q
1
()
_
and for any diagonal positive denite
matrix S
mm
. 2
Local Asymptotic (LA-)Stability results will now be
derived by guaranteeing the robust absolute -contractivity
of E
_
Q
1
()
_
, i.e. relation (11). In the saturation avoidance
case we have (u) = u sat(u) = 0, and E
ci
= 0.
Lemma 4: (LA-Stability with saturation avoidance)
Let A
ci
, B
ci
, G
ci
, C
c
, D
c
and F
c
be given feedback gains
that form controller (5). For a given real scalar (0, 1],
consider the existence of symmetric positive denite matrices
Q
i

2n2n
, a positive diagonal matrix
pp
and a
matrix U
2n2n
, satisfying :

M
ji
=
_
_
Q
j
A
i
U G
i

(Q
i
UU

) U

2
_
_
< 0
i = 1, . . . , N and j = 1, . . . , N, (18)

N
i
=
_

_
Q
i
+U

+U U

i
U

()
2 F
c

()

2
()
_

_ 0,
i = 1, . . . , N and = 1, . . . , m. (19)
Then, the set S
0

=

i
_
E(Q
1
i
)
_
= E
_
Q
1
()
_
is
robustly absolutely -contractive and is included in
S() =
_

2n
; (.)
p
; |K+F
c
(z)|
_
. Hence,
the origin of the corresponding closed-loop system (9) is
asymptotically stable for any initial condition
0
S
0
and for
any (.) verifying the sector condition (3). Furthermore, the
control constraint, |u
k
| , is respected for any trajectory
emanating from S
0
. 2
Lemma 5: (LA-Stability with saturating actuators)
Let A
ci
, B
ci
, G
ci
, E
ci
, C
c
, D
c
and F
c
be given feedback
gains that form controller (5). For a given real scalar
(0, 1], consider the existence of symmetric positive denite
matrices Q
i

2n2n
, of positive diagonal matrices

pp
and S
mm
, and of matrices U
2n2n
, H
1i

m2n
and H
2i

mp
satisfying inequalities:
_

M
ji
B
i
S
H

1i
H

2i
2S
_

_
< 0 (20)
i = 1, . . . , N and j = 1, . . . , N,
_

_
Q
i
+U

+U U

i
U

()
H

1i()
2 F
c

()
H

2i()

2
()
_

_ 0,
i = 1, . . . , N and = 1, . . . , m. (21)
Then, the set S
0

i
_
E(Q
1
i
)
_
= E
_
Q
1
()
_
is robustly
absolutely -contractive. Hence, the origin of the corre-
sponding saturating closed-loop system (9) is asymptotically
4237
stable for any initial condition
0
S
0
for any (.) verifying
the sector condition (3). 2
IV. MAIN RESULTS
Inspired in the work of Scherer and co-workers [17], we
dene the n-dimensional square real matrices N, M, X, Y,
W and Z such that:
U =
_
X N
Z
_
, U
1
=
_
Y M
W
_
, =
_
Y I
n
W 0
_
.
It follows that: XY +NW =YX +MZ = I
n
. We also have:
U =
_
I
n
X
0 Z
_
=

U =
_
Y

I
n
X
_
where, by construction: T

=Y

X +W

Z. Furthermore, using
the partitioning Q
i
=
_
Q
11i
Q
12i
Q
22i
_
, we have:

Q
i
=
_
_
Y

Q
11i
Y +W

12i
Y+
Y

Q
12i
W +W

Q
22i
W
Y

Q
11i
+
W

12i
Q
11i
_
_
=
_

Q
11i

Q
12i

Q
22
i
_
(22)
A. LMI stabilization conditions
Proposition 6: (LA-Stabilization with saturation avoid-
ance) Given a real scalar (0, 1], suppose that there ex-
ist matrices
_

Q
11i
,

Q
12i
,

Q
22i
, X, Y, T)
nn
, a positive
diagonal matrix
pp
, and matrices

A
i
,

B
i
,

G
i
,

C,

D,

F,
satisfying the two LMI conditions (23) and (24).
Let matrices N, Z and the nonsingular W be such that:
NW = I
n
XY and W

Z = T

X. (25)
Then, the controller (5) with
_

_
D
c
=

D , C
c
=
_

CD
c
CX
_
Z
1
,
B
ci
= (W

)
1
_

B
i
Y

B
i
D
c
_
, F
c
=

F
1
,
A
ci
= (W

)
1
_

A
i
W

B
ci
CX Y

B
i
C
c
Z
Y

(A
i
+B
i
D
c
C)X)Z
1
,
G
ci
= (W

)
1
_

G
i

1
Y

(G
i
+B
i
F
c
)
_
(26)
and the set S
0

=E(Q
1
(
k
))=

i=1,...,N
E
_
Q
1
i
_
, with Q
i
=
_
Q
11i
Q
12i
Q
22i
_
that veries (22), are solutions to Problem
1 for any nonlinearity (z) satisfying relation (3). 2
Proposition 7: (LA-Stabilization with saturating actua-
tors) Given a real scalar (0, 1], suppose that there exist
matrices

Q
11i
,

Q
12i
,

Q
22i
, X, Y , T, positive diagonal matrices
S
mm
and
pp
, and matrices

A
i
,

B
i
,

G
i
,

E
i
,

C,

D,

F,
(

H
11i
,

H
12i
)
mn
,

H
2i

mp
, satisfying the two LMI
conditions (27) and (28).
Let N, Z and the nonsingular matrix W be such that (25)
is veried. Then, the controller (5) with the gains given by
(26) and by
E
ci
= (W

)
1
_

E
i
S
1
Y

B
i
_
(29)
and the set S
0

= E(Q
1
())=

i=1,...,N
E
_
Q
1
i
_
, with Q
i
=
_
Q
11i
Q
12i
Q
22i
_
, are solutions to Problem 1 for any nonlin-
earity (z) satisfying relation (3). 2
B. Synthesis of the dynamic output controllers gains
For optimization of the size of the set S
0

= E(Q
1
()),
we adopt the shape set approach. Thus, consider a ball with
radius
_
, denoted by E(I
2n
, ), where the scalar > 0 is
the scaling factor to be maximized subject to the following
inclusion: E(I
2n
, ) =
_

2n
;

_
E(Q
1
()).
By considering =1/, the above inclusion is equivalent
to: _
I
2n
I
2n
Q
i
_
0 , i = 1, . . . , N,
which, by pre and post-multiplication by diag(I
2n
,

) and
its transpose, respectively, is also equivalent to:
_

_
I
n
0 Y I
n
I
n
W 0


Q
11i

Q
12i


Q
22i
_

_
0 , i = 1, . . . , N. (30)
The invertibility of W can be guaranteed by:
W +W

> 0 (31)
Theorem 8: Given a real scalar (0, 1], consider that
the following CPPs are feasible. Then the corresponding
controller gain matrices, obtained from (26) and (29), and
the set S
0

= E(Q
1
()) solve Problem 1:
Synthesis with saturation avoidance:
min

Q
11i
,

Q
12i
,

Q
22i
, X,Y,W, T, ,

A
i
,

B
i
,

G
i
,

C,

D,

F

subject to
LMIs (23), (24), (30) and (31)
(32)
Synthesis with saturating actuators:
min

Q
11i
,

Q
12i
,

Q
22i
, X,Y,W, T, , S,

A
i
,

B
i
,

C,

D,

E
i
,

F,

G
i
,

H
11i
,

H
12i
,

H
2i

subject to
LMIs (27), (28), (30) and (31)
(33)
2
V. EXAMPLE
Consider the following data for system (2)-(4), from [2]:
A
1
=
_
1.1 0.4
0.2 1.1
_
, A
2
=
_
0.2 0.7
0.6 1.3
_
,
B
1
=
_
0
1.2
_
, B
2
=
_
0
1.3
_
, G
1
= G
2
=
_
1
0
_
,
L
1
=
_
0 1.1

, L
2
=
_
0 0.9

, C =
_
0 1

,
= 0.55, = 1 and (z) = 0.275z(1 +sin(z)).
Table 1 shows the optimal scaling factors and compen-
sators gain matrices obtained from CPPs (32) and (33), for
4238
_

Q
11 j


Q
12 j
Y

A
i
+

B
i
C

A
i

G
i


Q
22 j
A
i
+B
i

DC A
i
X +B
i

C G
i
+B
i

F

_

Q
11i
Y

Y
_

_

Q
12i
T

I
_
L

_

Q
22i
X

X
_
X

2
_

_
< 0 ,
i = 1, . . . , N
j = 1, . . . , N
(23)
_

Q
11i
+Y

+Y

Q
12i
+T

+I L

i
(

D
()
C)

Q
22i
+X

+X X

()
2

F

()

2
()
_

_
> 0 ,
i = 1, . . . , N
= 1, . . . , m
(24)
_

Q
11 j


Q
12 j
Y

A
i
+

B
i
C

A
i

G
i

E
i


Q
22 j
A
i
+B
i

DC A
i
X +B
i

C G
i
+B
i

F B
i
S

_

Q
11i
Y

Y
_

_

Q
12i
T

I
_
L

11i

_

Q
22i
X

X
_
X

12i
2

H

2i
2S
_

_
< 0 ,
i = 1, . . . , N
j = 1, . . . , N
(27)
_

Q
11i
+Y

+Y

Q
12i
+T

+I L

i
(

D
()
C)

11()


Q
22i
+X

+X X

()

12()
2

F

()

2
()
_

_
> 0 ,
i = 1, . . . , N
= 1, . . . , m
(28)
= 1. Figure 1 shows the corresponding restrictions of sets
S
0
to the state space of the plant, denoted S
0r
:
S
0r

i=1,2
E
r
_
Q
1
i
_
=
_
x
2
;
_
x
0
_

Q
1
i
_
x
0
_
1
_
We see that the size of S
0r
in the saturation avoidance
case is more conservative than the size obtained in the
saturating actuators case. Thus, this last kind of solution
can be privileged in practice, unless the actuators may be
easily damaged due to saturations occurrence.
Figure 2 shows the control efforts corresponding to
discrete-time simulations with the solution obtained with
saturating actuators, for = 1, using two different random
sequences for the time-varying parameter vector
k
.
The corresponding initial condition
0
=
_
x

0
0

, where
x

0
=
_
1.5259 1.4634

, belongs to the boundary of

S
0r
, as shown in gure 1. Figure 2 shows that the saturation
is kept active during some discrete times for both sequences.
However, saturations may not occur for other sequences
and/or initial conditions in S
0r
.
Finally, gure 3 shows the conicting trade-off existing
between the performance requirement, represented by the
coefcient of contractivity , and the size of the region where
the desired performance is guaranteed, represented by S
0r
.
We see that the greater is the performance requirement, the
smaller is the region where it is guaranteed.
2.5 2 1.5 1 0.5 0 0.5 1 1.5 2 2.5
2
1.5
1
0.5
0
0.5
1
1.5
2
= 1
x1
x
2


with saturating act.
sat. avoidance
Fig. 1. S
0r
obtained from CPPs (32) and (33)
VI. CONCLUSION
An LMI framework has been proposed to design dynamic
output compensators for a class of nonlinear parameter-
varying discrete-time systems, subject to actuators satura-
tions. The proposed results technically differ from [5] mainly
due to some tools used to deal with discrete-time and
4239
CPP Saturation Avoidance Saturating actuators
0.5438 1.9837
A
c1
, A
c2
_
0.9962 0.8708
0.3216 0.2849
_
,
_
1.1334 1.4524
0.3767 0.4948
_ _
0.4413 0.0770
0.0011 0.0013
_
,
_
0.0455 0.0195
0.0062 0.0021
_
B

c1
, B

c2
_
49.6306 16.9739

,
_
25.2477 8.2307
_
14.6000 0.0502

,
_
10.4765 0.3297

c1
, E

c2
_
0 0

,
_
0 0
_
35.6017 0.5229

,
_
13.8163 1.2802

c1
, G

c2
_
134.0162 44.3965

,
_
128.0709 41.7581
_
65.2706 1.5275

,
_
8.8883 1.5685

C
c
, D
c
, F
c
_
0.0043 0.0037

, [0.6961] , [0.2373]
_
0.0101 0.0023

, [1.1524] , [0.9165]
TABLE I
NUMERICAL RESULTS OBTAINED FOR = 1
0 2 4 6 8 10 12 14 16 18 20
1
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
1
k
s
a
t
(
u
)


sequence 1
sequence 2
Fig. 2. Control effort - solution with saturating actuator
2.5 2 1.5 1 0.5 0 0.5 1 1.5 2 2.5
2
1.5
1
0.5
0
0.5
1
1.5
2
= 1.0 ( ), = 0.9 ( ), = 0.8 ( )
x1
x
2
Fig. 3. S
0r
obtained from CPP (33) for different values of
time-varying parameters: the parameter-varying Lyapunov
function, the associated non-ellipsoidal contractive level sets,
and a modication of the technique proposed in [17].
REFERENCES
[1] S. Boyd, L. El Ghaoui, E. Feron, and V. Balakrishnan. Linear matrix
inequalities in system and control theory. SIAM Studies in Applied
Mathematics, 1994.
[2] E. B. Castelan, J. Corso, and U. F. Moreno. Stability and stabilization
of a class of uncertain nonlinear discrete-time systems with saturating
actuators. In 3
rd
IFAC Symposium on System, Structure and Control,
Foz do Iguassu - Brazil, October 2007.
[3] E. B. Castelan, U. Moreno, and E. R. de Pieri. Absolute stabilization of
discrete-time systems with a sector bounded nonlinearity under control
saturations. In IEEE International Symposium on Circuits and Systems,
pages 31053108, Greece, 2006.
[4] E. B. Castelan, S. Tarbouriech, and Isabelle Queinnec. Control
design for a class of nonlinear continuous-time systems. Automatica,
44(8):20342039, 2008.
[5] J. M. Gomes da Silva Jr., J. Corso, and E. B. Castelan. Output feedback
stabilization for systems presenting sector-bounded nonlinearities and
saturating inputs. In Proc. of the 17th IFAC World Congress, pages
1410914114, 2008.
[6] J. M. Gomes da Silva Jr., D. Limon, and T. Alamo. Dynamic output
feedback for discrete-time systems under amplitude and rate actuator
constraints. IEEE Transactions on Automatic Control, pages 5588
5593, 2005.
[7] J. M. Gomes da Silva Jr. and S. Tarbouriech. Anti-windup design
with guaranteed regions of stability: an lmi-based approach. IEEE
Transactions on Automatic Control, 50(1):106111, 2005.
[8] T. Hu and Z. Lin. Composite quadratic Lyapunov functions for
constrained control systems. IEEE Transactions on Automatic Control,
48(3):440450, 2003.
[9] T. Hu, Z. Lin, and B. M. Chen. An analysis and design method
for linear systems subject to actuator saturation and disturbance.
Automatica, 38:351359, 2002.
[10] Marc Jungers and E. B. Castelan. Gain-scheduled control design for
a class of discrete-time nonlinear systems with saturating actuators.
Systems & Control Letters, page submitted, 2008.
[11] H. K. Khalil. Nonlinear Systems - Third Edition. Prentice Hall, 2002.
[12] T. Kiyama, S. Hara, and T Iwasaki. Effectiveness and limitation
of circle criterion for lti robust control systems with control input
nonlinearities of sector type. Int. J. Robust and Nonlinear Control,
(15):873901, 2005.
[13] T. Kiyama and T. Iwasaki. On the use of multi-loop circle for
saturating control synthesis. Systems & Control Letters, 41:105114,
2000.
[14] E. F. Mulder, M. V. Kothare, and M. Morari. Multivariable anti-windup
controller synthesis using linear matrix inequalities. Automatica, pages
14071416, Sep. 2001.
[15] C. Pittet, S. Tarbouriech, and C. Burgat. Stability regions for linear
systems with saturating controls via circle and popov criteria. In 36th
IEEE Conf. on Decision and Control (CDC97), pages 45184523,
San Diego, USA, 1997.
[16] K. Sawada, T. Kiyama, and T. Iwasaki. Generalized sector synthesis
of output feedback control with anti-windup structure. Systems &
Control Letters, 58:421428, 2009.
[17] C. Scherer, P. Gahinet, and M. Chilali. Multiobjective output-feedback
control via LMI optimization. IEEE Trans. on Automat. Contr.,
42(7):896911, 1997.
[18] Q. Zheng and F. Wu. Output feedback control of saturated discrete-
time linear systems using parameter-dependent lyapunov functions.
Syst. & Contr. Letters, 57:896903, 2008.
4240