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In this paper, a robust nonlinear speed control system is proposed. The proposed control system offers a fast response without injuring riding comfort of the rolling stocks.The riding comfort is obtained from monotonous deviation decreasing under the acceleration and jerk limitation. The monotonous decreasing characteristic is provided by a nonlinear compensation.According to the nonlinear compensation, when the speed deviation and the acceleration deviation are small, the trajectory in the phase plane is controlled in linear region. On the other hand, when the deviations are large, the trajectories are led to the linear control region.The sufficient condition of the robust nonlinear speed control is made apparent by the system analysis and certified by the simulations.

Robust Nonlinear Speed Control Method for Rolling Stock with Jerk Limitation