Discrete-Time Output Feedback under Bounded Actuators: Single and Multi-agent Problems

Synthesis results are presented for a general discrete-time dynamic output feedback controller and its anti-windup augmentation for operation under bounded actuation. The approach is then adopted for the leader-follower tracking problem for a multi-agent system. We consider the l
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gain from the disturbances to a general output, and obtain upper bounds for such gains. The scheme developed includes sufficient conditions, in the form of LMIs, for both controller design and anti-windup synthesis. Numerical examples are presented to show the effectiveness.