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Fast reference governors for systems with state and control constraints and disturbance inputs
Author(s) -
Gilbert Elmer G.,
Kolmanovsky Ilya
Publication year - 1999
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(19991230)9:15<1117::aid-rnc447>3.0.co;2-i
Subject(s) - control theory (sociology) , reference model , computer science , constraint (computer aided design) , set (abstract data type) , control engineering , governor , control (management) , process (computing) , neighbourhood (mathematics) , mathematics , engineering , artificial intelligence , mathematical analysis , geometry , software engineering , programming language , aerospace engineering , operating system
Reference governors are applied to closed‐loop tracking systems that are linear and discrete time and have constraints on state and control variables. Earlier results are extended in significant ways. Disturbance inputs, whose values belong to a specified set, are allowed and a general class of reference governors is introduced. Each governor in the class guarantees constraint satisfaction for all reference and disturbance inputs. Moreover, if the reference input is ultimately confined to a neighbourhood of a constraint‐admissible constant input, the eventual action of the reference governor reduces to a unit delay. By appropriately selecting reference governors from the allowed class it is possible to simplify significantly their implementation. The increase in on‐line speed of operation overcomes prior limits on the practical application of reference governors. Algorithmic procedures are described which facilitate design of the reference governors. Several examples are presented. They illustrate the design process and the excellence of response to large inputs. Copyright © 1999 John Wiley & Sons, Ltd.