Fulfilling hard constraints in uncertain linear systems by reference managing (Q1295140)

A control scheme for constrained uncertain tracking systems is addressed. To the primal compensated system a predictive reference filter (PRF) is added. The PRF operation is based on the receding horizon control philosophy. The primal system is supposed to be a standard feedback loop designed in the absence of constraints. It is shown that if the admissibility condition on the initial state is satisfied, the control scheme will fulfill the constraints, as well the stability and set-point tracking requirements for all systems whose step responses lie within the given set. At the same time the computational burden caused by the PRF is claimed to be moderate. Some useful PRF implementation guidelines are also suggested. An application example illustrates the improvement of stability, tracking, and other properties of a fast servomechanism.