Disturbance Attenuation for Input Constrained Systems by Gain-Scheduled Feedback Control

Abstract

We propose a gain-scheduled control law for input constrained systems in the presence of disturbance. The proposed control law has a structure that a high-gain control law and a low-gain control law are interpolated by a single scheduling parameter. The scheduling parameter is computed online by solving a convex optimization problem with LMI constraints. We show that, by using the proposed scheduling algorithm, both feasibility of the control algorithm and closed-loop stability are guaranteed.