TR2014-119

Reference and Command Governors: A Tutorial on Their Theory and Automotive Applications


    •  Kolmanovsky, I.; Garone, E.; Di Cairano, S., "Reference and Command Governors: A Tutorial on Their Theory and Automotive Applications", American Control Conference (ACC), DOI: 10.1109/ACC.2014.6859176, ISSN: 0743-1619, ISBN: 978-1-4799-3272-6, June 2014, pp. 226-241.
      BibTeX Download PDF
      • @inproceedings{Kolmanovsky2014jun,
      • author = {Kolmanovsky, I. and Garone, E. and {Di Cairano}, S.},
      • title = {Reference and Command Governors: A Tutorial on Their Theory and Automotive Applications},
      • booktitle = {American Control Conference (ACC)},
      • year = 2014,
      • pages = {226--241},
      • month = jun,
      • doi = {10.1109/ACC.2014.6859176},
      • issn = {0743-1619},
      • isbn = {978-1-4799-3272-6},
      • url = {http://www.merl.com/publications/TR2014-119}
      • }
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  • Research Areas:

    Advanced Control Systems, Mechatronics


The paper provides a tutorial overview of reference governors and command governors, which are add-on control schemes for reference supervision and constraint enforcement in closed-loop feedback control systems. Approaches to the development of such schemes for linear and nonlinear systems are described. The treatment of unmeasured disturbances and parametric uncertainties is addressed. Generalizations to extended command governors, feedforward reference governors, reduced order reference governors, parameter governors, networked reference governors and decentralized reference governors are discussed. Examples of applications of these techniques to automotive systems are given. A comprehensive list of references is included. Comments comparing reference and command governor approaches with Model Predictive Control and on future directions in reference and command governor research are included.