Adaptive-robust polynomial control for the pantograph-catenary positioning system

This paper deals with the design of a polynomial RST control for a pantograph-catenary (PAC) system. The process of controlling the pantograph-catenary system is of importance for high speed trains. The objective of this work is to propose a simple to implement control method with a high degree of robustness. The solution presented is an adaptive robust RST control applied on a SISO discrete system for an approximation of the non-linear state space model. The nonlinearity effect is observed to act around a certain narrow frequency range that can be filtered out. An adaptive control structure is introduced in order to filter some frequency bands that can be re-estimated periodically.