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This paper is focused on a robust saturation controller for the stable linear time-invariant (LTI) system involving both actuator`s saturation and structured real parameter uncertainties. Based on affine quadratic stability and multi-convexity concept, a robust saturation controller is newly proposed and the linear matrix inequality (LMI)-based sufficient existence conditions for this controller are presented. The controller suggested in this paper can analytically prescribe the lower and upper bounds of parameter uncertainties, and guarantee the closed-loop robust stability of the system in the presence of actuator`s saturation. Through numerical simulations, it is confirmed that the proposed robust saturation controller is robustly stable with respect to parameter uncertainties over the prescribed range defined by the lower and upper bounds.

There are mainly two types of bang-bang controllers for nominal linear time-invariant (LTI) system. Optimal bang-bang controller is designed based on optimal control theory and suboptimal bang-bang controller is obtained by using Lyapunov stability condition. In this paper, the suboptimal bang-bang control method is extended to LTI system involving both control input saturation and structured real parameter uncertainties by using Lyapunov robust stability condition. Two robust optimal bang-bang controllers are derived by minimizing the time derivative of Lyapunov function subjected to the limit of control input. The one is developed based on the classical quadratic stability(QS), and the other is developed based on the affine quadratic stability(AQS). And characteristics of the two controllers are compared. Especially, bounds of parameter uncertainties which theoretically guarantee robust stability of the two controllers are compared quantitatively for 1DOF vibrating system. Moreover, the validity of robust optimal bang-bang controller based on the AQS is shown through numerical simulations for this system.

An improved finite difference type numerical method to solve partial differential equations for one-dimensional (1-D) structure is proposed. This numerical scheme is a kind of a single-step, second-order accurate and implicit method. The stability, consistency, and convergence are examined analytically with a second-order hyperbolic partial differential equation. Since the proposed numerical scheme automatically satisfies the natural boundary conditions and at the same time, all the partial differential terms at boundary points are directly interpretable to their physical meanings, the proposed numerical scheme has merits in computing 1-D structural dynamic motion over the existing finite difference numeric methods. Using a numerical example, the suggested method was proven to be more accurate and effective than the well-known central difference method. The only limitation of this method is that it is applicable to only 1-D structure.