Reduced order extended command governor

Abstract Extended command governors (ECGs) are add-on schemes that modify set-point commands as necessary to ensure that imposed state and control constraints are not violated by closed-loop systems designed for set-point tracking. In this paper, we propose a reduced order ECG for systems with dynamics decomposable into slow and fast state variables. We demonstrate that ECG implementation can be based on slow states only, thus reducing the computational complexity. This is achieved by introducing additional constraints, and by slightly tightening the original constraints. We demonstrate that the proposed ECG maintains the response properties of the conventional ECG, including the convergence to the nearest feasible command in finite time in the case of constant reference commands. The results are also shown to apply to conventional command governors. For the case when the reduced order state is not directly measured, a formulation of the result in the presence of a state observer is developed.