A new gain-scheduled control design is proposed to improve disturbance attenuation for systems with bounded control input. The state feedback controller is scheduled according to the proximity to the origin of the state of the plant. The controllers is derived in the framework of linear matrix inequality(LMI) optimization. This procedure yields a linear time varying control structure that allows higher gain and hence higher performance controllers as the state move closer to the origin. The main results give sufficient conditions for the satisfaction of a parameter-dependent performance measure, without violating the bounded control input condition.
