CAD.2:11 - SoTA-Echoing

Which relation between planning and realization is sufficient to use? For the stated linear branch, the selected construction is an explicit state reconstruction and tracking interface, followed by residual and event equations. It adopts the tracking-law form used by Stamouli, Tsiamis, Morari and Pappas, §3.2, Theorem 1: feedback on the reconstructed-state error with nominal and input feedforward terms. The serious matching-model alternative is a discrete-time simulation-function construction; its usable output-distance guarantee still needs a verified invariant sublevel set, not only decrease outside it. Section :4.2 adapts the law by retaining nonzero nominal mismatch H and bounded w; :4.1 also retains the output-matching residual. These substitutions do not inherit the source theorem: CAD.3 derives the bound for the resulting equation.

This choice makes a failed exact match actionable, at the cost of bounding more forcing and possibly shrinking the usable command domain. If the existing closed-loop model already supports a governor, use that whole model as explained in CAD.Reference:4.5.1; adding a reduced planning model and P is unnecessary unless it supplies a useful decision or computational gain. The held-value and continuous-segment cases in :5 are constructed applications of the residual equation, not interchangeable implementations of one reference.

For partial observations, Castroviejo-Fernandez and colleagues, §§3–6 provide a developed alternative: state and disturbance estimation with time-dependent error bounds for reference governing. Adopt their requirement to carry observer error into constraint predictions when choosing that branch; its extra observer and set computations replace the full-state premise, not merely the notation x. Section :4.3 therefore returns an estimator-based implementation to the connected-dynamics derivation. Reopen the interface when its measured quantities, reconstruction, hold, interpolation, reset or delay changes; compare bounds and computation under the same actual exchange before choosing between these constructions.