A Relay-Feedback Autotuning PD Controller for Automatic Train Operation System

The Automatic Train Operation (ATO) system in the Communications-Based Train Control (CBTC) plays a critical role in controlling the train automatically and safely. It requires a reliable control system, especially to implement the optimization methods. This paper aims to develop a relay-feedback autotuning proportional-derivative (PD) control design for the ATO system that can maintain the train speed within the specified trajectory and stability. Three key performances are employed to evaluate the proposed controller. The first is to follow a predefined trajectory. The second is to comply, in terms of punctuality, with being no more than 30 seconds early and no more than 30 seconds late with respect to the trajectory running time. The third is to show superior Integrated Absolute Error (IAE) and Integrated Square Error (ISE) performance compared to the conventional controllers. The results show that the proposed controller can meet all the key performances and outperforms the conventional controllers.