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We propose a gain-scheduling control algorithm for locally stabilizing a discrete-time system with input saturation. The proposed control law has a structure that a high-gain control law and a low-gain control law are interpolated by using a single scheduling parameter. The scheduling parameter is computed on-line by solving a convex optimization problem with LMI constraints. By using the proposed scheduling algorithm, both feasibility of the algorithm and internal stability in the presence of computational delay and structured uncertainties are guaranteed.

A Scheduling Algorithm for Constrained Control Systems with Considering Computational Delay and Structured Uncertainties