Invariance control with time-varying constraints

In general, dynamic systems have to meet certain requirements in order to achieve a prescribed performance or to ensure safety. These constraints on the states and/or outputs of the system may even be changing over time. This generates the necessity for a control scheme, which is able to enforce time-varying constraints. In this work, we propose a control approach, which uses the concepts of invariance control to enforce constraints with time-varying parameters. A control law is derived, which guarantees the satisfaction of constraints with bounded time-varying parameters. Stability properties are investigated and illustrated in a numerical example.