Abstract
This paper presents two off-line design methods of a reference governor for constrained systems subject to a class of bounded disturbances. Both of these methods assure 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 two performance indices based on l1 and l2 norms. Then, in both methods, the design of the reference governor is formulated as the minimization of worst-case performance under the constraint that the state should be settled into the maximal CPI set for any bounded disturbance in the prescribed class. It is shown that the reference governor designs based on the l1 and l2 norms are reduced respectively to a linear programming and a convex programming, which can be efficiently solved by existing numerical algorithms. The effectiveness of the present methods is demonstrated by a numerical example.
