Optimization theory is applied to the design of feedback control systems for high-capacity automated transit systems. The resulting controllers are shown to keep headway and velocity errors small without causing passenger discomfort. Excellent dynamic response is achieved during normal mainline operation, merging and demerging, maneuvering and emergency stopping. Useful design charts are presented and the effects of the dynamics of the propulsion system are considered. It is concluded that optimization theory is a useful tool in the design of longitudinal control systems for automated transit systems.