Nonlinear control of constrained linear systems via predictive reference management
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A new method for solving a constrained set-point tracking problem is presented. The essence of it consists of adding to a primal compensated system a nonlinear device called command governor (CG). The CG selects at any time point a virtual sequence among a family of linearly parametrized command sequences. The method is based on conceptual tools of predictive control. The CG solves a convex constrained quadratic optimization problem and feeds the primal compensated system according to a receding horizon control philosophy. The overall system is proved to fulfill the constraints, is asymptotically stable and exhibits an offset-free tracking behaviour. Simulation examples demonstrate the effectiveness of the proposed CG when applied to systems with input and state-related constraints.
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