Controller state and reference governors for discrete-time linear systems with pointwise-in-time state and control constraints

Reference governors enforce pointwise-in-time state and control constraints by temporarily modifying the reference command to a nominal closed-loop system whenever the danger of constraint violation exists. In this paper we propose a reference governor with the added capability of resetting internal closed-loop system states as necessary to avoid constraint violation. With this approach the constrained domain of attraction, i.e., the set of states recoverable without constraint violation, is enlarged. This scheme is referred to as the controller state and reference governor. The paper describes this scheme, analyzes its stability and convergence properties, and presents examples of applying it to aircraft flight control and gas turbine engine control examples.