Constrained linear systems with hard constraints and disturbances: An extended command governor with large domain of attraction

This paper considers a nonlinear feedback control policy that is an extension of those provided by command governors and reference governors. As in these control approaches it applies to discrete-time linear systems with hard constraints and set bounded disturbances. The control policy retains the m...

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Bibliographic Details
Published in:Automatica (Oxford) 2011-02, Vol.47 (2), p.334-340
Main Authors: Gilbert, Elmer G., Ong, Chong-Jin
Format: Article
Language:English
Subjects:
Applied sciences
Attraction
Command governor
Commands
Computer science
control theory
systems
Constrained systems with disturbances
Control system analysis
Control system synthesis
Control theory. Systems
Disturbance input
Disturbances
Domain of attraction
Exact sciences and technology
Governors
Hard constraints
Joints
Linear systems
Nonlinear feedback
Optimal control
Policies
Reference governor
Robust invariant set
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Summary:This paper considers a nonlinear feedback control policy that is an extension of those provided by command governors and reference governors. As in these control approaches it applies to discrete-time linear systems with hard constraints and set bounded disturbances. The control policy retains the main properties of traditional governors, such as straightforward direct implementation and finite-settling-time response to arbitrarily specified set points. Its principal advantage over traditional governors is a significantly larger domain of attraction, that may compete in size with those obtained by dynamic programming. Connections to model predictive control are made. Numerical examples illustrate advantageous features of the proposed approach.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2010.10.016