Robust invariance-based explicit reference control for constrained linear systems

Abstract

In the linear system control, the traditional invariance-based explicit reference governor (ERG) method provides a solution to the control of a class of systems subject to state and control constraints, while there still exist some limitations on the form of system models, which hinders its wider application. In response to this situation, we propose the invariance-based explicit reference control (IERC) which is composed of double-invariance-based explicit reference governor (DIERG) and anti-windup controller (AWC). Specifically, the DIERG forces the system states at the intersection of two invariant sets including the constraint-based invariant set and performance-based invariant set; the AWC adopts amplified artificial amplitudes in control constraints to make the obtained two invariant sets tolerant to some degree of saturation. The advantages of the proposed design methodology are illustrated through the simulation studies.