L 2 Bibo Output Feedback Stabilization with Saturated Control

For the problem of stabilization of mildly nonlinear systems with saturated control, a simple and computationally attractive method of designing a stabilizing gain scheduled output feedback is proposed. The resulting controller is characterized by an eecient use of the actuator capacity (\agressive" control), and is supplied with rigorously proven input/output performance bounds. In particular, for the case of stabilization of a linear time invariant system without exponentially unstable modes, the closed-loop map from the plant disturbances and state estimation noise to the state and control variables is shown to be L2-bounded .