Decentralized control of nonlinear interconnected systems under both amplitude and rate saturations

In this paper, we design a decentralized controller for a class of nonlinear interconnected systems under both amplitude and rate limited actuators. Since the input amplitude can be treated as a state of the actuator dynamics, in the presence of both amplitude and rate constraints, each closed-loop subsystem would be regarded as a partial state and input constrained system. Then, based on the linear differential inclusion method, we propose linear matrix inequality (LMI) conditions to design the decentralized state feedback controller that can handle the partial state and full rate constraints. Furthermore, we estimate the domain of attraction of both subsystems and the overall systems using the Cartesian product of the ellipsoidal sets. A numerical example is presented to demonstrate the validity of the proposed controller.