Output Feedback Control of Linear Time-Invariant Systems with Operational Constraints

Abstract

This paper introduces a systematic method for designing robust linear controllers using output feedback in the presence of operational constraints. The design uses Nagumo's Theorem and the Comparison Lemma to guarantee constraint satisfaction, while incorporating min-norm optimal control principles inspired by Control Barrier Functions. The resulting controller is a continuous piecewise-linear output feedback policy that preserves the closed-loop system's analyzability using linear systems theory. Due to the linear control design, multi-input multi-output (MIMO) robustness margins can be derived with and without active operational constraints. This paper shows that operational constraints on the system's state can be satisfied using an observer-based output feedback control design. Through flight control trade studies, we demonstrate the practical relevance of the framework in safety-critical aircraft control applications.