Multi-input robust saturation controller for uncertain linear time-invariant systems

A robust saturation controller for the linear time-invariant (LTI) system involving both a control input's saturation and structured real parameter uncertainties was proposed in [C.W. Lim, Y. J. Park, S.J. Moon, Robust saturation controller for linear time-invariant system with structured real parameter uncertainties, Journal of Sound and Vibration 294 (1–2) (2006) 1–14]. This controller can also be applicable to the multi-input case. In this paper, the robust saturation controller is extended to the uncertain LTI system with multi-input and designed by introducing additional subsidiary setting parameters for each control input. An example is presented to show its application to multi-input uncertain LTI systems.