Speed regulation with measured output feedback in the control of heavy haul trains

An approach of output regulation with measurement feedback is proposed for the control of heavy haul trains. The objective is to regulate all cars’ speeds to a prescribed speed profile. The output regulation problem of nonlinear systems with measurement feedback is formulated and solved for the first time in this paper. Its application to train control is detailed. Simulation result shows the feasibility of the approach, in terms of its simplicity, cost effectiveness and its implementation convenience.