A low sensitivity, modern approach to the longitudinal control of automated transit vehicles

Modern control and estimation techniques are applied to the design of longitudim controllers for automated transit vehicles. The sensitivity of dynamic response t changes in vehicle parameters and the effects of noisy sensors on control system per formance are studied. A method for sensitivity reduction by augmentation of the stat vector with the sensitivity vector is proposed and low sensitivity design is developea which provides excellent dynamic response over a wide range of operating conditions and vehicle parameters.