Design of Reference Governor for Linear Systems with Input Constraints

This paper presents a design method of the reference governor fora stabilizable linear system with input constraints. When theinput has a constraint, the input saturation might happen andthus, the controller cannot work correctly. Furthermore, theoutput might diverge in the case of an open loop unstable system.To remedy this problem, the reference governor is proposed. Theset-point control problem with control constraints is considered.In the proposed method, the behaviors of the states and input arepredicted and the reference is modified so that the predictedinput never exceeds the saturation limits and the modified one isclosest to the given set-point command among the values which areachievable without the input saturation. The convergence of thenewly generated reference trajectory is proved. Simulation resultsare included to verify the performance