On-line reference management for discrete-time servo systems under state and control constraints

This paper proposes a method of discrete time servo systems design and on-line management of reference signals so as not to violate state and control constraints. The stabilizing and reference shaping controllers are designed off-line by solving LMI optimization problems that takes into account both LQR characterization and state and control constraints. Our managed reference is a piecewise constant signal which is determined online. The better performance of the proposed approach for cases that the initial state is disturbed is demonstrated through an example.