Abstract
In this paper, a two-layer supervisory control scheme is proposed for discrete-time linear systems with state/input constraints, including multiple state time-delays, parametric uncertainties, and exogenous disturbance. The inner control layer is designed to achieve robust H∞ tracking performance considering the delays as extra states but neglecting the input/state constraints. On the other hand, in the outer control layer, a command governor (CG) is designed to robustly guarantee the satisfaction of state and input constraints by computing a minimal Robust Positively Invariant (mRPI). To this end, the CG manipulates reference inputs by generating the nearest admissible value to be applied to the closed-loop system in both transient and steady-state response through the computation of the Maximal Output Admissible Set (MOAS). Finally, the validity of the proposed scheme is assessed in simulation using a numerical example and a continuous stirred tank reactor (CSTR) system.
Published Version
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