发表机构
Massachusetts Institute of Technology; The Boeing Company（麻省理工学院; 波音公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文研究LTI系统中基于控制屏障函数的调节器同时满足输入输出约束的可行性，推导充要条件并给出参数设计程序。
AI 中文摘要
本文针对具有多个输入、状态反馈和积分作用的LTI系统，研究了基于控制屏障函数的调节器同时满足输入和输出约束的问题。推导了CBF调节器具有可行解以及闭环解有界且前向不变的充分必要条件。还提供了一种系统化的设计程序，用于选择CBF调节器的自由参数。这些自由参数与高阶CBF、可行指令信号的界限以及控制输入幅度相关。配套论文提供了多个数值示例，以说明本文的结果，特别是在条件满足（或不满足）时CBF调节器的可行性（或不可行性）。
英文摘要
This paper addresses simultaneous input and output constraint satisfaction for a class of multi-input linear time-invariant systems with state feedback and integral action. A control barrier function (CBF)-based governor modifies the reference command while preserving the nominal feedback controller. Necessary and sufficient conditions are derived under which the governor is feasible at every state of a prescribed operating set and ensures simultaneous input and output constraint satisfaction, forward invariance, and bounded closed-loop solutions. The paper also shows that these conditions need not be met for certain choices of the CBF governor parameters due to conflicts between input and output constraints. A systematic design procedure is proposed that first searches for feasible free parameters and, if necessary, proposes a relaxation in the input constraint that restores feasibility. A companion paper provides numerical examples and counterexamples illustrating these results.
Comments14 pages, submitted to ACC 2027; v2: revised abstract, added the arXiv number of the companion paper (Part II, arXiv:2610.04742)
