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Analysis and design of delta operator systems with nested actuator saturation

ABSTRACT In this paper, the problem of estimating the domain of attraction is considered for delta operator systems subject to nested actuator saturation. A set invariance condition is established for the delta operator system with nested actuator saturation in terms of auxiliary feedback matrices. Based on the set invariance condition, an optimisation approach is proposed to estimate the domain of attraction for the delta operator system. Thereby, the partial results of nested actuator saturation for both continuous-time systems and discrete-time systems are extended to delta operator system framework. A numerical example is provided to illustrate the effectiveness of the proposed design techniques.