Command governor schemes for dynamical systems subject to rate-bounded disturbances

This paper extends the well-known Command Governor (CG) scheme to the case of rate-bounded persistent disturbances acting as exogenous signals on the plant. The methodology is founded on a multimodal supervisory unit that, during online operations, effectively orchestrates the switching among various CG configurations. These configurations are pre-designed offline based on the magnitude of disturbance occurrences to satisfy the prescribed constraints. To achieve this, a customized notion of transition dwell-time is incorporated within the proposed supervisory framework to determine the necessary duration to facilitate safe transitions among operational modes without compromising constraint satisfaction. Simulation results on two different linear systems indicate that the multimodal CG architecture is markedly less conservative when compared to the traditional single CG scheme.