Abstract
Abstract This paper proposes two methods of traffic regulation of public underground transportation systems during transients, for example during the modification of the intervals between the trains. Both methods are based on optimal control theory for linear systems with quadratic criterion. In the first approach the system is controlled with respect to a new nominal time schedule to be generated accordingly to the new situation while the second method realizes interval control without reference to a nominal schedule. The properties of both methods are analyzed and simulation results are discussed and compared.
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