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This paper proposes a reference governor construction method for constrained linear systems with timevarying references. The main advantage of this reference governor is to simultaneously consider fulfillment of constraint conditions and evaluation of tracking performance. To derive a condition for constraint fulfillment we adopt a concept of maximal output admissible sets, and to evaluate tracking performance the management problem of time-varying references is reduced into a convex quadratic programming problem. Finally, the reference governor is obtained in the form of a piecewise affine function of state and reference variables, using a multi-parametric programming technique. In addition, we demonstrate the effectiveness of reference governors by a numerical example of a practical DC position servomechanism with control constraints.

Absfraet-This paper proposes a reference management technique for closed-loop systems with state andlor control constraints. The management rule is represented in the form of a piecewise state affine function obtained from an explicit solution to a quadratic programming problem which explicitly considers not only a constraint fulfillment hut also a tracking performance. Furthermore, the effectiveness of the proposed approach is shown by simulation. It is more important to also perform the experimental evaluation to demonstrate its effectiveness using a real position servomechanism.

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