Abstract
A method based on conceptual tools of predictive control is described for solving tracking problems wherein pointwise-in-time input and/or state inequality constraints are present. It consists of adding to a primal compensated system a nonlinear device called command governor (CG) whose action is based on the current state, set-point and prescribed constraints. The overall system is proved to fulfill the constraints, be asymptotically stable, and exhibit an offset-free tracking behaviour, provided that an admissibility condition on the initial state is satisfied.
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