LAUSR

Abstract This paper presents new conditions to design linear parameter-varying (LPV) state-feedback controllers for systems under saturating actuators. The proposed design ensures a minimal rate of contractivity of an associated Lyapunov function. A proportional-integral (PI) like structure is employed to ensure null tracking error for piecewise constant reference signals. Therefore, this proposal fits the design requirements of LPV and quasi-LPV real systems under saturating actuators. Experimental essays conducted on a second-order nonlinear level control illustrate the potential of the proposed approach. Additionally, the tests indicate how the contractivity rate affects the size of the estimate of the region of attraction.