Control Design for A Dynamic Vehicle

An assessment of the control problem is made from the given model and the performance requirement. A simplified model that captures the essential difficulties is derived. The control problem is difficult because of dynamics, parameter variations and actuator saturation. The process is unstable in all operating conditions, it has zeros on the imaginary axis or in the right half plane. Control laws are determined using different methods. None of the approaches give controllers that satisfy the given requirements over the whole operating range.