  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.
