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Control of constrained nonlinear systems via reference management


A. Bemporad

American Control Conference, NM, USA, pp. 3343-3347

For a broad class of nonlinear continuous-time sys-tems this paper addresses the problem of satisfying input and/or state hard constraints. The approach consists of adding to a primal compensated nonlinear system a Ref-erence Governor (RG). This is a predictive discrete-time device which, taking into account the current value of the state, filters the desired reference trajectory in such a way that a nonlinear primal compensated control system can operate in a stable way with satisfactory tracking perfor-mance and no constraint violation. The resulting hybrid system is proved to fulfill the constraints, as well as sta-bility and tracking requirements, and the related compu-tational burden turns out to be moderate and executable with current computing hardware. Desired Reference

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% Autogenerated BibTeX entry
@InProceedings { Xxx:1997:IFA_414,
    author={A. Bemporad},
    title={{Control of constrained nonlinear systems via reference
    booktitle={American Control Conference},
    address={NM, USA},
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