This work proposes a technique for the design of stabilizing dynamic output feedback controllers for discrete-time linear systems with rate and amplitude saturating actuators. The nonlinear effects introduced by the saturations in the closed-loop system are taken into account by using a generalized sector condition, which leads to theoretical conditions for solving the problem directly in the form of linear matrix inequalities.
IEEE transactions on automatic control. New York, NY. vol. 53, no. 10 (Nov. 2008), p. 2367-2372