Ellipsoidal Set Based Command Governors for Constrained Linear Systems with Bounded Disturbances

This paper provides a solution for a linear command governor (CG) that employs invariant and constraint-admissible ellipsoid. The motivation is to substitute the typical polyhedral set used in almost all CG schemes with the ellipsoidal one, which is much easier to construct. However the price for this offline computational efficiency is that the size of the feasible set can be relatively small, and the online computational burden is heavier than that of polyhedral set based CGs. The proposed solution overcomes these two weaknesses and offers a very attractive alternative to polyhedral set based CG. Two numerical examples with comparison to earlier solutions from the literature illustrate the effectiveness of the proposed algorithm.