Abstract
Classical scalar Reference Governor (RG) schemes require a convex admissible region. Recently, a novel scalar RG approach has been proposed for the case of nonconvex constraints that can be approximated as union of polyhedral sets. This new method, specifically developed for the charge control of lithium-ion batteries, shows good performance and the capability of handling these kind of constraints while keeping a very low computational footprint. However, this method can guarantee that the system will reach the desired set point only under very specific properties of the constraints. In this paper, we analyze these limitations and propose a solution that ensures convergence of the RG scheme under much milder conditions on the topology of the constraints.
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