State and output feedback control for Takagi-Sugeno systems with saturated actuators

In the present paper, a Takagi-Sugeno (T-S) model is used to simultaneously represent the behaviour of a nonlinear system and its saturated actuators. With the T-S formalism and the Lyapunov approach, stabilization conditions are expressed as Linear Matrix Inequalities (LMIs) for different controller designs. Static Parallel Distributed Compensation (PDC) state feedback, static and dynamic PDC output feedback controllers for nonlinear saturated systems are proposed. The descriptor approach is used to obtain relaxed conditions to compute the controller gains. The nonlinear cart-pendulum system is used to illustrate the proposed control laws.