In this paper we synthesize linear and nonlinear output feedback dynamic compensators for plants with saturating actuators. Our approach is direct in the sense that it accounts for the saturation nonlinearity throughout the design procedure as distinct from traditional design techniques that first obtain a linear controller for the 'unsaturated' plant and then employ controller modification. We utilize fixed-structure techniques for output feedback compensation while specifying the structure and order of the controller. In the full-order case the controller gains are given by LQG-type Riccati equations that account for the saturation nonlinearity.
International Journal of Robust and Nonlinear Control 5(5), pp.521-537