Abstract
This paper presents an off-line design method of a reference governor for constrained systems subject to a class of bounded disturbance.The present method assures the infinite-time constraint fulfillment by settling the state variable into the maximal constrained positively invariant (CPI) set at the final instance of reference management.In order to improve the transient response, we introduce a performance index taking account of the tracking error.Then the design of the reference governor is formulated as the minimization of worst-case performance index under the constraint that the state should be settled into the maximal CPI set for any bounded disturbance in the prescribed class.We show that this minimization problem is reduced to a convex optimization problem.The effectiveness of the present method is demonstrated by a numerical example.
