Fast robust control of linear systems subject to actuator saturation

This paper deals with the robust stability of soft variable-structure controls. More precisely, the control of linear plants subject to parametric uncertainty and actuator saturation is considered. Earlier works are summarized and new results are presented in this paper. It is shown that for all considered types of soft variable-structure controls, the robustness analysis leads to parameter-dependent Lyapunov inequalities. An overhead crane control is given as an illustrating example.