Coordinating Controllers for Constrained Linear Systems by Virtual State Governors

We develop a method for integrating and coordinating two groups of actuators, each with a non-modifiable unconstrained state-feedback controller. The coordination strategy enforces constraints and minimizes the usage of one of the actuator groups, which is “expensive”, due to operating costs or undesired side effects. By using the maximum constraint admissible set for each controller in closed-loop with the plant, the coordination scheme modulates the action of the assigned controllers and minimizes the usage of the expensive actuators. The proposed control strategy enforces constraints, stabilizes the system, and uses the expensive actuators for finite time and only to avoid constraint violation.