Abstract
This paper considers the problem of controlling vehicles in a rapid transit system using an on-line digital computer. Vehicle speeds and spacings are obtained periodically and are used by the control computer to calculate the required driving or braking forces for the next time period. A largely non-mathematical description is given of multivariable control methods which allow rapid transit schemes to operate efficiently for any number of vehicles with maximum capacity consistent with safety requirements and comfort. Difficulties which arise because of uncertainties in data in practical cases due to measurement errors, interference, or malfunction are alleviated by the control method and produce no significant deterioration in system performance. Consideration is given to non-linearities, merging, starting, etc., which are inherent in any overall scheme. Practicality is borne in mind throughout the description.
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