Static output-feedback control for uncertain systems under input saturation and persistent disturbance

This paper addresses the static output-feedback (SOF) control problem for discrete-time systems subject simultaneously to input saturation, non-vanishing disturbances, and uncertainties described in a polytopic form. Level sets of the Lyapunov function are used to characterize the estimation of the domain of admissible initial states for the system and also to determine a region where the states of the closed-loop system will be confined in the presence of persistent disturbance. The proposed de