delayed systems subject to input saturation and L _ 2 L 2-norm disturbances is proposed,
motivated by a benchmark problem. The stabilizing observer-based controller gains are
obtained from an LMI formulation using a Lyapunov–Krasovskii functional, free weighting
matrices, and an effective approach to overcome the obstacle of the bilinearity. To select the
most adequate controller, an iterative optimization algorithm is developed to maximize the …