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Lacerda, Marcio J. and Silva, Felipe A. (2025) Safe control design for uncertain linear systems under input saturation using Lyapunov barrier functions. In: 64th IEEE Conference on Decision and Control, 10-12 December 2025, Rio de Janeiro, Brazil. (In Press)
Abstract
This paper proposes conditions for the design of safe, robust state-feedback controllers and barrier certificates for uncertain polytopic continuous-time linear systems subject to input saturation. The generalized sector condition is employed to assess the presence of saturation and the level set of the Lyapunov function is utilized to define the barrier function. Numerical experiments are used to illustrate the features of the proposed method.
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