| In this dissertation, different design techniques are proposed to improve disturbance attenuation for polytopic and norm-bounded linear parameter-varying (LPV) systems with bounded inputs. The results rely on the bounded real lemma and a new approach of over-bounding the peak-to-peak gain to develop a class of controllers that use the control input to its full capacity, while maintaining quadratic stability with some guaranteed level of disturbance attenuation. One important objective of this work is to be able to reduce the control problems to linear matrix inequalities (LMIs), which can be solved by a variety of numerically efficient techniques.;First, an implicit method of characterizing the ;The results are extended to include non-zero initial conditions and rate constraints. Here, the results are derived for both low and high rate saturation. For the problem, where both position and rate saturation are considered, the results are shown to be similar to that of the LPV system. For low rate saturation, rate constraint is shown to be equivalent to having uncertainty in the system A matrix. |
