LQR CONTROLLER FOR TOROIDAL CONTINUOUSLY VARIABLE TRANSMISSION IN REVERSE MOTION

Abstract

This paper presents the design of a Linear Quadratic Regulator (LQR) for a Toroidal Continuously Variable Transmission (TCVT) system for cars. This system is unstable in reverse mode and is nonlinear according to the car speed. A gain-scheduling technique is then associated to the LQR method. Several experiments with test-bed and with actual vehicle shows the effectiveness and the robustness against car speed and torque shift disturbance of the controller.