Designing robust aw compensation for uncertain discrete-time linear systems

In this contribution an approach for the synthesis of controller with compensation of saturation in the actuators is presented. The technique is applied in discrete-time linear systems with politopical uncertainties, taking as it bases a performance index on a transfer function that involves difference between the output signal of the actuator and the output of the controller and its effect on the control signal. Thus, the saturation in the actuators is considered like a disturbance in the performance of the action of the control signal, which allows to establish performance indices for the design of the control law (static output feddback), and for the synthesis of a gain of compensation for the problem of windup. Thus, the method exhibits certain properties of robustness in front of changes in the operation of the actuators. For the synthesis of the gains of static output feedback and the gain of compensation, a method derived from the techniques of robust optimal control in H₂/H_∞ for linear systems with politopical uncertainties, is proposed, which is based on linear matrix inequalities (LMIs). In order to verify the properties of the propose technique a numerical example is also presented.