Robust control from data in presence of input saturation

In this paper, conditions are given for internal model control (IMC) structures to be robustly L(2) stable with respect to H(infinity) bounded model uncertainty and in presence of input saturation. This conditions are used for the design robust controllers that are the best H(infinity) approximation to 'perfect' linear control among all controllers guaranteeing L(2) stability in presence of actuator saturation. The cases of both 'standard' and enhanced IMC structures are considered. Copyright (C) 2004 John Wiley Sons, Ltd.