Robust output feedback H∞ control for uncertain discrete-time systems with actuator constrained

In the framework of linear matrix inequalities (LMI) optimization, an output feedback H-infinity control scheme for uncertain discrete-time systems with actuator saturation is presented. The key of this work is to introduce a dissipation constraint combined with minimizing performance level, and then to discuss the closed-loop H-infinity performance. Moreover, we propose the method for on-line solving the constrained optimization problem at each sampling time, updated with the controller states. This scheme has the capability of automatically relaxing the performance level in order to obey input constraints.