In control theory, complex models of physical processes, such as systems of differential or
difference equations, are usually checked against simple specifications, such as stability …

Rehabilitation robots, by necessity, have direct physical interaction with humans. Physical
interaction affects the controlled variables and may even cause system instability. Thus …

For discrete-time linear time invariant systems with constraints on inputs and states, we
develop an algorithm to determine explicitly, the state feedback control law which minimizes …

The properties of positively invariant sets are involved in many different problems in control
theory, such as constrained control, robustness analysis, synthesis and optimization. In this …

Lyapunov functions are an essential tool in the stability analysis of dynamical systems, both
in theory and applications. They provide sufficient conditions for the stability of equilibria or …

Saturation nonlinearities are ubiquitous in engineering systems. In control systems, every
physical actuator or sensor is subject to saturation owing to its maximum and minimum …

This paper considers the characterization and computation of invariant sets for discrete‐
time, time‐invariant, linear systems with disturbance inputs whose values are confined to a …

This monograph details basic concepts and tools fundamental for the analysis and synthesis
of linear systems subject to actuator saturation and developments in recent research. The …

For discrete-time linear time-invariant systems with constraints on inputs and states, we
describe a method to determine explicitly, as a function of the initial state, the solution to …

We present a method for estimating the domain of attraction of the origin for a system under
a saturated linear feedback. A simple condition is derived in terms of an auxiliary feedback …