Static output-feedback control for uncertain systems under input saturation and persistent disturbance

This paper addresses the static output-feedback (SOF) control problem for discrete-time systems subject simultaneously to input saturation, non-vanishing disturbances, and uncertainties described in a polytopic form. Level sets of the Lyapunov function are used to characterize the estimation of the domain of admissible initial states for the system and also to determine a region where the states of the closed-loop system will be confined in the presence of persistent disturbance. The proposed design conditions are formulated as Linear Matrix Inequalities (LMIs). Numerical experiments demonstrate the effectiveness of the method in providing SOF controllers that ensure the states of the closed-loop uncertain system are confined to a bounded region despite the presence of persistent disturbances.