Changing the reference state rather than redesigning the controller can restore reachability safety after abrupt constraint changes; the authors solve this as an optimization and claim 100 to 10000 times faster recovery than online redesign.
Reachability under state constraints-the ellipsoidal technique,
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Emergency-Brake Simplex: Toward A Verifiably Safe Control-CPS Architecture for Abrupt Runtime Reachability Constraint Changes
Changing the reference state rather than redesigning the controller can restore reachability safety after abrupt constraint changes; the authors solve this as an optimization and claim 100 to 10000 times faster recovery than online redesign.