| Set-Point Tracking in Constrained Nonlinear Systems: a Command Governor Approach (2007) | |||||||||||||||
Abstract | |||||||||||||||
| A method is described for set-point tracking in nonlinear systems when pointwisein-time 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, set-point and prescribed constraints. The CG selects at any time the system input via a receding-horizon 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 | |||||||||||||||
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