Can reference governors outperform tube-based predictive control?

This paper makes comparisons between a reference governor scheme and a tube-based MPC algorithm for a simple tracking problem with output disturbances. The key aim is to consider the extent to which a tube based approach is merited in this scenario, or whether the same feasibility assurances and good performance can be obtained with a far simpler approach. The main features, properties, and general setup of both methods are described and compared. The tracking performance of both algorithms are analysed.