Abstract
A command governor (CG) is described for solving set-point tracking problems for nonlinear systems when pointwise-in-time input and/or state related inequality constraints have to be fulfilled. A CG is a nonlinear device which is added to a primal compensated system. The CG action, based on the current state, set-point and prescribed constraints, is finalized to select, at any time, a command sequence under which the constraints are possibly fulfilled with acceptable tracking performance. It is shown how to use off-line an iterative algorithm so as to restrict to a fixed finite integer the infinite number of time-instants over which the prescribed constraints must be checked in order to test admissibility of command sequences. An analysis based on a Lyapunov function argument shows that, if the reference becomes constant, the CG output converges to the closest admissible approximation to the set-point. An example is presented to illustrate the method.
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Angeli, D., Casavola, A., Mosca, E. (2000). A Predictive Command Governor for Nonlinear Systems under Constraints. In: Allgöwer, F., Zheng, A. (eds) Nonlinear Model Predictive Control. Progress in Systems and Control Theory, vol 26. Birkhäuser, Basel. https://doi.org/10.1007/978-3-0348-8407-5_6
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DOI: https://doi.org/10.1007/978-3-0348-8407-5_6
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