Summary: Command Governors for Constrained Nonlinear Systems
David Angeli and Edoardo Mosca 1
Dipartimento di Sistemi ed Informatica
Universit`a di Firenze
Via di S.Marta, 3 ­ 50139 Firenze, Italy
Abstract
A method is described for set­point tracking in nonlinear systems when pointwise­in­time
input and/or state inequality constraints are to be enforced. It consists of adding to
a primal compensated system a nonlinear device called command governor (CG) whose
action is based on the current state, set­point and prescribed constraints. The CG selects
at any time the system input via a receding­horizon strategy from a virtual sequence
amongst all possible command sequences by solving a constrained quadratic optimization
problem. Provided that the initial state be admissible, the overall system is proved to
fulfill the constraints and have desirable performance stability properties.
1 Introduction
In recent years there have been substantial theoretical advancements in the field of feedback
control of dynamic systems with input and/or state­related constraints [1, 2] . Amongst the
various approaches, the developments of this note are more akin to the predictive control
methodology [3]­[4]. Predictive control, wherein the receding horizon control philosophy is
used, selects the control action by possibly taking into account the future evolution of the

Source: Angeli, David - Dipartimento di Sistemi e Informatica, Università degli Studi di Firenze

Collections: Engineering