STABILITY ANALYSIS AND CONTROL DESIGN OF LINEAR SYSTEMS WITH INPUT SATURATION USING MATRIX SUM OF SQUARES RELAXATION

In this paper, matrix sum of squares (SOS) relaxation is used for analysis of linear systems with input saturation. On the basis of a polytopic type saturation model, we consider a polynomial type saturation model which leads less conservative estimations of the domain of attraction. The idea is also applicable to design problems. Both analysis and design problems are reduced to robust linear matrix inequality problems that can be solved by using a matrix SOS technique. A numerical example shows the effectiveness for analysis problems.