An Interpolation Technique for Input Constrained Robust Stabilization

This paper presents an interpolation technique of two given robust stabilizing gains for input constrained uncertain systems. The proposed interpolated feedback gain is computed at every sampling instance by solving an optimization problem with a single decision variable. Use of the interpolated feedback gain can bring about not only large invariant set but also good control performance. Moreover, it is shown that the feasible and invariant set yielded by the proposed control is the convex hull of the two invariant sets by the known controls. The simulation results show that the proposed interpolation based feedback gain indeed results in both large invariant set and good control performance.