A method to shorten setting time via outer feedback adjusting invariant set based on reference governor

摘要

In a quick motion system, the shortest setting time is usually pursued, while for a system existing both input constraint and state constraints, by using traditional reference governor, maybe there are one phenomenon: some state don't achieve maximal valve due to shape of invariant set, This will lead to a longer setting time. This paper provides a method to shorten setting time of output via an outer feedback based on traditional reference governor. Outer feedback is computed by solving a convex non-constrained quadratic optimization. For linear system with outer feedback, different invariant set is computed based on reference governor. Meanwhile, this paper describes a built process of serval invariant sets and provides a most big invariant set just to fulfill the first receding horizon to get the shortest setting time.