A Feasibility Condition for the Governor-based Tuning of Explicit MPC: Application to a Hydraulic Plant

We propose a feasibility condition for reference governors that are used to tune the behavior of a reference-tracking explicit model predictive controller. Governors allow for a simple tuning of existing controllers without modifying them. However, since properties like feasibility are often not accounted for by the governors, their applicability may be limited. We prove that feasibility can be guaranteed using information about the explicit solution, and demonstrate the resulting algorithm by controlling the flow rate in a laboratory-scale hydraulic plant.