An Explicit Reference Governor for Linear Sampled-Data Systems With Disturbance Inputs and Uncertain Time Delays

In this article, we propose a novel reference governor (RG) scheme for prestabilized linear sampled-data systems to satisfy pointwise-in-time constraints in the presence of bounded disturbances and uncertain input and/or measurement delays. Based on an explicit bound on the system response to step changes in the reference signal derived using the logarithmic norm, this RG scheme yields a closed-form solution for updating the reference signal at sample time instants that guarantees both sample-time and intersample constraint satisfaction. Due to its closed-form expression, the proposed RG scheme requires minimum computational effort and is thereby suitable for systems with limited computing capability.