A predictive reference governor with computational delay (Q1286747)

The set-point tracking problem in the presence of pointwise-in-time input and/or state inequality constraints and significant computational delay is under study. A modification of the basic reference governor (RG) strategy for the case when the computational time is comparable to or is greater than the sampling period is presented. It is shown that the properties of stability and convergence, proved for the case of negligible computational delay, still hold. The simulations show that certain free parameters of the RG can cause some degradation of performance. A more accurate choice of these parameters in the case of significant computational delay for obtaining the desirable tracking performance is mandatory.