Robust Stabilization of Multi Input Plants With Saturating Actuators

This technical note proposes the use of a time-varying sliding surface for stabilizing linear, possibly unstable, Multi-Input plants subject to saturating actuators, in the presence of bounded matched uncertainties. The present work generalizes our previous contributions in several different directions. First, the constructive procedure is generalized, and a result about asymptotical stabilization is given, under the usual assumption of the saturation threshold being larger than the bound on uncertainties. Another goal of the technical note is to widen the set of plants considered including linear Multi-Input systems. Simulation results show both the effectiveness of the control technique and the low computational burden required.