L2-based static output feedback controller design for a class of polytopic systems with actuator saturation

This paper presents a robust L-2-based Static Output Feedback (SOF) controller design for a class of linear continuous-time polytopic systems subject to actuator saturation, which is a feature common to vast industrial processes. New sufficient LMI conditions are derived for the design of SOF controllers using parameter-dependent Lyapunov function. The development incorporates the decomposition of an auxiliary matrix variable so that approximation in deducing the LMIs involve reduced-size matrices. In addition, L-2 performance under the constraint of actuator saturation is considered to develop a framework of a considerably complete problem. Several design cases are taken to demonstrate the efficacy of the proposed method. Moreover, the completeness of the design is illustrated through experimental results on a twin-rotor MIMO system, and comparison of the results is presented with those existing in the literature.