A Fast Reference Governor for the Constrained Control of Linear Discrete-time Systems with Parametric Uncertainties

This paper presents a novel reference governor scheme capable of ensuring constraint satisfaction for discrete-time linear systems subject to parametric uncertainties. Given a pre-stabilized system, the proposed method generates a sequence of recursively feasible references that guarantee constraint enforcement by exploiting invariance properties. At each time step, it is shown that the next reference can be computed in closed-form by solving a set of simple second order inequalities. Parametric uncertainties are then addressed by either computing a quadratic common Lyapunov function or using suitable bounds on the parameter-dependent Lyapunov function. The efficiency of the method is illustrated by means of numerical examples.