Reference governor for constrained piecewise affine systems

We present a methodology for designing reference tracking controllers for constrained, discrete-time piecewise affine systems. The approach follows the idea of reference governor techniques where the desired set-point is filtered by a system called the “reference governor”. Based on the system current state, set-point, and prescribed constraints, the reference governor computes a new set-point for a low-level controller so that the state and input constraints are satisfied and convergence to the original set-point is guaranteed.In this note we show how to design a reference governor for constrained piecewise affine systems by using polyhedral invariant sets, reachable sets, multiparametric programming and dynamic programming techniques.