A performance improving off-line reference management for systems with state and control constraints

This paper considers an off-line reference management technique for systems with state and control constraints. The benefits of the approach are to guaranteeing the satisfaction of the specified constraints, that is the primary purpose of reference governors, and explicitly taking the performance improvement into account. The infinite number of constraints involved in the problem formulation are reduced into a finite number. The main idea is to restricting the state variable at the final instance of finite-time reference management to a certain invariant subset of the state space such that fulfilling constraints for the primal control system is equivalent to restricting the state dynamics to this set