A dwell-time based Command Governor approach for constrained switched systems

In this paper a switched control architecture for constrained control systems is presented. The strategy is based on Command Governor (CG) ideas that are here specialized in order to jointly take into account switching events on the plant dynamics and time-varying constraints. The significance of the method relies in its capability to avoid constraint violation and loss of stability regardless of any configuration change in the plant/constraint structure by commuting the system configuration (model plant+CG) with a more adequate one. To this end the concept of model transition dwell time is used within the proposed control framework to formally define the minimum time necessary to enable a switching event under guaranteed conditions on the overall stability and constraint fulfillment.