  A Command Governor (CG) is an optimization-based add-on scheme to a nominal
closed-loop system. It is used to enforce state and control constraints by
modifying reference commands. This paper considers the implementation of a CG
on embedded processors that have limited computing resources and must execute
multiple control and diagnostics functions; consequently, the time available
for CG computations is limited and may vary over time. To address this issue, a
robust to early termination command governor is developed which embeds the
solution of a CG problem into the internal states of a virtual continuous-time
dynamical system which runs in parallel to the process. This virtual system is
built so that its trajectory converges to the optimal solution (with a tunable
convergence rate), and provides a sub-optimal but feasible solution whenever
its evolution is terminated. This allows the designer to implement a CG
strategy with a small sampling period (and consequently with a minimum
degradation in its performance), while maintaining its constraint-handling
capabilities. Simulations are carried out to assess the effectiveness of the
developed scheme in satisfying performance requirements and real-time
schedulability conditions for a practical vehicle rollover example.
