Date of Award


Document Type


Degree Name

Doctor of Philosophy (PhD)


Electrical Engineering

First Advisor

Hamid R. Ossareh


The Reference Governor (RG) is a methodology based on predictive control for constraint management of pre-stablized closed-loop systems. This problem is motivated by the fact that control systems are usually subject to physical restrictions, hardware protection, and safety and efficiency considerations. The goal of RG is to optimize the tracking performance while ensuring that the constraints are satisfied. Due to structural limitations of RG, however, these requirements are difficult to meet for Multi-Input Multi-Output (MIMO) systems or systems with preview information. Hence, in this dissertation, three extensions of RG for constraint management of these classes of systems are developed. The first approach aims to solve constraint management problem for linear MIMO systems based on decoupling the input-output dynamics, followed by the deployment of a bank of RGs for each decoupled channel, namely Decoupled Reference Governor (DRG). This idea was originally developed in my previous work based on transfer function decoupling, namely DRG-tf. This dissertation improves the design of DRG-tf, analyzes the transient performance of DRG-tf, and extends the DRG formula to state space representations. The second scheme, which is called Preview Reference Governor, extends the applicability of RG to systems incorporated with the preview information of the reference and disturbance signals. The third subject focuses on enforcing constraints on nonlinear MIMO systems. To achieve this goal, three different methods are established. In the first approach, which is referred to as the Nonlinear Decoupled Reference Governor (NL-DRG), instead of employing the Maximal Admissible set and using the decoupling methods as the DRG does, numerical simulations are used to compute the constraint-admissible setpoints. Given the extensive numerical simulations required to implement NL-DRG, the second approach, namely Modified RG (M-RG), is proposed to reduce the computational burden of NL-DRG. This solution consists of the sequential application of different RGs based on linear prediction models, each robustified to account for the worst-case linearization error as well as coupling behavior. Due to this robustification, however, M-RG may lead to a conservative response. To lower the computation time of NL-DRG while improving the performance of M-RG, the third approach, which is referred to as Neural Network DRG (NN-DRG), is proposed. The main idea behinds NN-DRG is to approximate the input-output mapping of NL-DRG with a well-trained NN model. Afterwards, a Quadratic Program is solved to augment the results of NN such that the constraints are satisfied at the next timestep. Additionally, motivated by the broad utilization of quadcopter drones and the necessity to impose constraints on the angles and angle rates of drones, the simulation and experimental results of the proposed nonlinear RG-based methods on a real quadcopter are demonstrated.



Number of Pages

198 p.