LMI-based synthesis of a robust saturated controller for an underactuated mechanical system subject to motion constraints - Gritli, Hassène; Belghith, Safya (European journal of control, 2021)
Keywords: Actuator saturation; Actuators; Attractive invariant ellipsoid; Constraints; Control systems; Control theory; Controllers; Dynamical systems; Equilibrium; Feedback control; Inequality; Inertial Wheel Inverted Pendulum; Linear matrix inequalities; LMI and BMI; Mathematical analysis; Mechanical systems; Motion constraints; Nonlinear dynamics; Norm-bounded parametric uncertainties; Optimization; Robust control; Robust stabilization; Saturation; State feedback; Synthesis; Uncertainty; Underactuated mechanical system; Underactuated mechanical system; Attractive invariant ellipsoid; Motion constraints; LMI and BMI; Inertial Wheel Inverted Pendulum; Actuator saturation; Norm-bounded parametric uncertainties