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Automatika : journal for control, measurement, electronics, computing and communications, Vol.56 No.4 February 2016. -

In this paper, we consider the problem of constrained tracking of piecewise constant references for nonlinear dynamical systems. In the considered problem we assume that an existing controller satisfies constraints in a corresponding positive-invariant set of the system. To solve the problem we propose the use of homothetic transformations of the positive-invariant set to modify the existing control law. The proposed approach can be implemented as a tracking model predictive control or as a reference governor. Simulation and experimental results are provided, showing the applicability of the proposed approach to a class of nonlinear systems.

Reference tracking; Model predictive control; Reference governor

Autor: Šandor Ileš - ; University of Zagreb Faculty of Electrical Engineering and Computing, Zagreb, Croatia Jadranko Matuško - ; Uni



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