Design of prediction governors for systems with input saturation

Abstract

This paper focuses on the tracking control of dynamical systems under the case that actual reference signals can not be available in real time. In such case, although a predicted signal including prediction error is used as a reference signal, the error degrades the control performance of the systems. The previous work presented the prediction governor which shapes predicted signals adequately. However, there is a case that amplitude of shaped signals becomes large, and thus the previous result can not be applied to a limited class of systems. In this paper, we present a linear programming based design method of prediction governors for systems with input saturation. Then, the effectiveness of the proposed method is verified by a simulation.