Abstract
This paper discribes a method of position-fixing control in the new transportation systems. In the control system, the braking force commands are given in response to errors from the stop patterns which are generated on-line as a function of time. First, a discrete-time linear model with a control delay of m time periods is derived assuming the use of a microcomputer. Then, optimal linear regulator and observer theories are successfully applied in the design of the control system. Finally, the influence of some factors (control parameters, brake characteristics, disturbances etc.) on the stop position error and the ride quality is examined by a computer simulation to demonstrate the validity of the control system.
