Frequency-shaping design of a gain-scheduling controller for pantographs

The paper presents a gain-scheduling approach to the control of a high-speed train pantograph. The feed-back law design is based on optimal control with frequency dependent cost functionals. Two active control schemes are discussed. Nonadaptive frequency-shaping control gives good performances for disturbances in a wide range of frequencies. Disturbance rejection can be further improved when frequency-shaping is used adaptively by means of gain-scheduling. The two control schemes are applied to a three degrees-of-freedom asymmetric dual stage pantograph.<
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