In this paper, the idea of triple Lyapunov functional is applied for controller design of discrete time systems subjected to various nonlinearities like actuator saturation, time varying delay and uncertainties. The performance of the system considered has been examined using H∞ technique in presence of external disturbance. A novel augmented triple Lyapunov-Krasovskii functional is applied with reciprocal convex approach to achieve the stability conditions, which are based on Linear Matrix Inequality. Saturation nonlinearity is tackled using less conservative convex hull method. Numerical examples are provided to illustrate the effectiveness of the proposed criterion.
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