Robust Control of Linear Systems in Presence of Input Saturation and Unmodelled Dynamics
نویسندگان
چکیده
In this paper we give a necessary and suÆcient condition for an Internal Model Control (IMC) structure to be robustly L2 stable with respect to H1 bounded model uncertainty and in presence of input saturation. This condition is used for the design of a controller that is the best H1 approximation to \perfect" linear control among all controllers guaranteeing L2 stability in the presence of actuator saturation.
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