Use of State Observers in the Optimal Feedback Control of Automated Transit Vehicles

Abstract

The theory of optimal control and the theory of observers is applied to the design of feedback systems for longitudinal control of vehicles in automated, high-capacity transit systems. The resulting controllers require only measurement of position and velocity errors and excellent dynamic response is achieved for mainline operation, for merging and demerging from stations, for maneuvering at intersections, and for emergency stopping.