Parameter governors for discrete-time nonlinear systems with pointwise-in-time state and control constraints

Parameter governors are add-on control schemes that adjust parameters (such as gains or offsets) in the nominal control laws so that to avoid violation of pointwise-in-time state and control constraints and to improve the overall system performance. As compared to more general model predictive controllers, parameter governors tend to be more conservative but the computational effort needed to implement them on-line can be relatively low. In this paper, we study the properties of two particular classes of parameter governors, namely, the feedforward governors and the gain governors.