Static output-feedback control for time-varying polytopic quadratic systems with applications to robotic manipulator

The static output-feedback control problem with time-varying polytopic quadratic systems subject to input saturation and disturbance is dealt with in this paper. By considering some parameter-dependent Lyapunov functions, sufficient conditions about static output-feedback control synthesis are obtained by parameter-dependent linear matrix inequalities. The synthesis conditions are further reduced to a special type of finite-dimensional parameter-independent linear matrix inequalities by means of affine combinations of matrices. Finally, two numerical examples are illustrated by the theoretical results.