Predictor-based reference governor for second-order linear constrained systems operated over a communication network

Abstract

The paper considers the application of reference governors to enforce state and control constraints in second order closed-loop systems operated remotely over communication networks. The reference governor minimally modifies the reference command to the closed-loop system if this command has a potential to induce constraint violation. Our approach to reference governor design exploits a recently developed fast constraint violation prediction algorithm for second order linear systems, which is extended, in this paper, to handle a time-varying network delay. We also discuss approaches to quantization error handling. A numerical example is reported to illustrate the proposed reference governor implementation.