Reference governor for second order constrained linear systems with small input time delays

In this paper, two networked reference governors (RG) are considered to fulfill the state and/or output constraints of second order linear systems with small input time delays (less than one control period). In the first case, the time-varying small delays are treated as the induced disturbance, so system models become delay-free by bounding the disturbance with a polyhedral set. In the second case, the time-varying small delays are converted to one period constant delay with the time-driven plants. Accordingly, our previous fast reference governor for second order linear systems can be applied. Finally, the effectiveness of the two proposed networked reference governors is demonstrated by a numerical example of the DC position servomechanism with output and control constraints.