Reference Governor for Constrained Piecewise Affine Systems. A Vehicle Dynamics Control Application
Paper i proceeding, 2009

In this paper we present a novel approach to the design of reference tracking controllers for constrained, discrete-time piecewise affine systems and apply it to a vehicle yaw control problem. The paper is divided in two parts. In the first part, 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 the second part of the paper, we apply the proposed approach to a vehicle dynamics control problem where the vehicle yaw rate have to be controlled through an Active Front Steering (AFS) system.


Predictive control for linear systems

Hybrid systems


Paolo Falcone

Signaler och system, System- och reglerteknik, Mekatronik

Francesco Borrelli

Jaroslav Pekar

E. Greg Stewart

European Control Conference (ECC), 23-26 August 2009, Budapest, Hungary