LPV Control of Actuator Saturated Systems: A Case Study on Single-Track Vehicle Control

The 2 gain control problem for disturbance attenuation in Linear Parameter Varying (LPV) Systems with saturating actuators has been addressed where the systems handled in the study are subjected to 2 disturbances. The aim in the presented method is to express saturating actuator analytically with a convex hull of some linear feedback. This point of view allows us to construct 2 control problem via Linear Matrix Inequalities (LMIs). Nested ellipsoids have been used to measure the stability and disturbance rejection capabilities of the control system. At the end, the proposed controller scheme has been simulated on a single-track vehicle dynamics with some linear time-varying parameters and a wind disturbance.