Command Governors for Constrained Nonlinear Systems: Linearization-based Strategies

A comparison between two diierent command governors strategies (CG) is described. A CG is a nonlinear device which is added to a primal compensated system. The CG action, based on the current state, set-point and prescribed constraints, is nalized to select, at any time, a command sequence under which the constraints are possibly fulllled with acceptable tracking performance. The two CG's diier in that one directly exploits the nonlinear model of the primal system, whereas the other is based on the property that, under some conditions, all trajectories of a nonlinear system are embedded within the trajectories of a linear diierential inclusion. An example is presented so as to exhibit the relative merits of the methods.