# A Reference Governor for Nonlinear Systems with Disturbance Inputs Based on Logarithmic Norms and Quadratic Programming

arXiv: https://arxiv.org/abs/1908.09460 · HTML: https://mlsanity.com/paper/1908.09460/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Aug 2019.

## Built on by (most cited first, 1 of 1)

- [Safe Learning Reference Governor: Theory and Application to Fuel Truck Rollover Avoidance](https://mlsanity.com/paper/2101.09298/) (2021)

## Abstract (arXiv)

This note describes a reference governor design for a continuous-time nonlinear system with an additive disturbance. The design is based on predicting the response of the nonlinear system by the response of a linear model with a set-bounded prediction error, where a state-and-input dependent bound on the prediction error is explicitly characterized using logarithmic norms. The online optimization is reduced to a convex quadratic program with linear inequality constraints. Two numerical examples are reported.