Design of Polynomial Control Laws for Polynomial Systems Subject to Actuator Saturation

This paper presents results for the design of polynomial control laws for polynomial systems in global and regional contexts. The proposed stabilization conditions are based on inequalities which are affine in both the Lyapunov function coefficients and the controller gains. Input saturations are incorporated to the stability analysis and the design of polynomial controllers using a generalization of a sector condition. The polynomial constraints of the stability/stabilization conditions are relaxed to be sum-of-squares and formulated as semi-definite programs.