Hardware Reference
In-Depth Information
6
4
2
0
−2
−4
−6
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1
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4
5
Time (ms)
600
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200
0
0
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5
Time (ms)
Figure 2.26: Time optimal control: Simulation result.
0
−50
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−250
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−400
Time Optimal deceleration trajectory
−450
−500
0
100
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Error (Tracks)
Figure 2.27: Time optimal control: Phase Plane (Simulation result).
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