The positive real lemma provides the basis for constructing linear output feedback dynamic compensators
for multi-input plants with independent amplitude saturations. Fixed-structure techniques are used to obtain
full- and reduced-order feedback compensators along with a guaranteed domain of attraction. These results are then
applied to the problem of rate saturation. By using a feedback-type model, rate saturation is modeled as an amplitude
saturation. The closed-loop system with amplitude and rate saturation is then treated as a system with independent
"amplitude" saturations.
