A Reference Governor for Overshoot Mitigation of Tracking Control Systems

Abstract: This paper presents a novel reference governor scheme for overshoot mitigation in tracking control systems. Our proposed scheme, referred to as the Reference Governor with Dynamic Constraint (RG-DC), recasts the overshoot mitigation problem as a constraint management problem. The outcome of this reformulation is a dynamic Maximal Admissible Set (MAS), which varies in real-time as a function of the reference signal and the tracking output. The RG-DC employs the dynamic MAS to modify the reference signal to mitigate or, if possible, prevent overshoot. We present several properties of the dynamic MAS and the algorithms required to compute it. We also investigate the stability and recursive feasibility of the RG-DC, and present an interesting property of RG-DC regarding its effect on the governed system's frequency response. Simulation results demonstrate the efficacy of the approach, and also highlight its limitations. This paper serves as an extension of our earlier paper on this topic.