Set of admissible reference signals and control of systems with state and control constraints

This paper considers characterization of the set of reference signals which are `safe´ for the systems with pointwise-in-time state and control constraints. The main idea is to construct two certain subsets such that for any reference input which is contained in the subset of the space of reference signals, avoiding constraint violation is equivalent to restricting the initial condition of the closed-loop system to the other subset of the state space. The proposed method is utilized to realize a reference governor control scheme. An admissibility condition on the initial state is satisfied, the control scheme is proved to fulfill the constraints and set-point tracking requirements