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구동기포화를 갖는 불확실한 시스템의 H<sub>2</sub> 제어
최현철,홍석교,좌동경,Choi, Hyoun-Chul,Hong, Suk-Kyo,Chwa, Dong-Kyoung 제어로봇시스템학회 2007 제어·로봇·시스템학회 논문지 Vol.13 No.10
This paper presents an LMI-based method to design a saturated state-feedback $H_2$ controller for uncertain systems with actuator saturation. Specifically, the paper proposes a sufficient condition such that the system under norm-bounded uncertainties and actuator saturation is asymptotically stable and the $H_2$-norm of the system has an upper-bound. The resulting condition is further utilized to solve a convex optimization problem specified in the context of $H_2$-norm minimization, whose solution yields a saturated $H_2$ controller. A numerical example is presented to show the effectiveness of the proposed method.