%0 Book Section
%A Bemporad, Alberto
%A Mosca, Edoardo
%B Decision and Control Conference
%C New Orleans, December 1995
%D 1995
%F eprints:591
%I IEEE
%K asymptotic stability; computational complexity; filtering theory; nonlinear control systems; performance index; predictive control  
%P 1205-1210
%T Nonlinear predictive reference governor for constrained control systems
%U http://eprints.imtlucca.it/591/
%V 2
%X This paper presents a new methodology for solving control problems where hard contraints on the state and/or the inputs of the system are present. This is achieved by adding to the control architecture a command governor which prefilters the reference to be tracked, taking into account the current value of the state and aiming at optimizing a tracking performance index. The overall system is proved to be asymptotically stable, and feasibility is ensured by a weak condition on the initial state linear loops, a complete solution is developed for the latter. The resulting online computational burden turns out to be moderate and the related operations executable with current low-priced computing hardware