This work presents a reference management technique for fault-tolerant model predictive control. The reference value to be tracked is first filtered through a set of statically admissible commands. This set expresses the airframe's physical ability to achieve a new equilibrium point, and it is constructed by considering the limitations of the inputs and states of the system under control. The set has a polyhedral form defined by linear inequalities. State and control vectors are obtained at steady state to guarantee the feasibility of the constrained numerical problem faced by the model predictive control regulator. The proposed method has been evaluated using a linear model of a fighter aircraft, and it demonstrated adequate performance with a computational burden compatible with real-time applications.augmented observation matrix e = model following error H = tracking matrix I = identity matrix J = cost function K d = feedback gain matrix k ss , k N = linear inequalities vectors L, L d , L x = observer gain matrices L d , H = auxiliary observer matrices L ss , M x , M x ss , M u ss , M d = linear inequalities matrices N = control horizon O 1 = invariant set O 1 = tracking invariant set P = terminal weighting matrix P m = set of statically admissible commands given the current disturbance P ss = steady-state polyhedron P w = set of statically admissible commands p, q, r = aircraft angular rates, rad=s Q, W, R = weighting matrices Q d , W d , R d = discrete weighting matrices Q m , W m , R m = implicit model following weighting matrices Q ss , R ss = constrained target calculator weighting matrices r c = command (demand) vector r ss = statically admissible command vector T = rotation matrix T s = sampling time, s t = time, s u max , u min = bounds over control vector w = performance output vector w m = reference model state vector X, U = admissible state and control sets X N = set of admissible extended state vectors X ss N = set of admissible steady-state control and state vectors x, u = state and control vectors x a = augmented state vector x max , x min = bounds over state vector x ss , u ss = state and control vectors at steady state x 0 = initial state vector x,d = estimated state and disturbance vectors x,ũ = tracking state and control vectors y = observed vector z = controlled output vector z ss = feasible command vector ,= angles of attack and sideslip, rad c , r = canard and rudder deflections, rad r e , l e = right and left elevon deflections, rad x , z = tolerance vectors = projection operator = slice operator , , d = discrete-time state-space matrices = auxiliary discrete state-space matrix a , a = augmented discrete state-space matrices
