Bounded robust controller design for mismatched state-dependent uncertainty

A bounded robust control is presented for dealing with matched external disturbance and mismatched state-dependent uncertainty in linear time-invariart systems. By using the famous pole-assignment method, an important switching vector is selected first before the controller is designed. Based on the Lyapunov theory, system stability is proven, and the upper bound of the control input is discussed. It is found that the system initial state has to be located in a suitable region determined by the upper bounds on the control input, the matched disturbance and the mismatched uncertainty. A numerical example is used to demonstrate use of the bounded robust controller in simulation.