Tracking and Control of Freight Trains using a Multivariable P.I. Controller

This paper presents a multivariable P.I. controller for long freight trains. The controller achieves asymptotic tracking of a given velocity profile, and minimizes a quadratic performance index subject to physical and practical constraints. The new controller is capable of accommodating various disturbances such as the variations in the grade profile and aerodynamic resistance as well as changes in the train parameters. Simulation results for manual operation under the current recommendations and for automatic operation using the proposed controller are given for a relatively steep downhill terrain zone.