Simple interpolating control

We present a new simple approach to extend the admissible region of a saturated control law for discrete-time linear systems under state and input constraints. The approach is based on the interpolation of a given, performance driven, control law and a low-gain controller. The latter is designed such that its admissible set has maximum volume. The interpolation does not require on-line numerical optimization, and an analytical formula for the controller is given. Several numerical examples are presented to illustrate the control technique.