LQR Active Control of Fractional-Order Pantograph-Catenary System Based on Feedback Linearization

Table 2

Performance index of type I pantograph.

(a) Statistical comparison of pantograph-catenary contact force
Control modes	Max/N	Min/N	Mean/N	STD
Passive control	167.14	46.20	98.46	20.73
Feedback linearized LQR active control	131.60	42.29	85.11	15.97
(b) Statistical comparison of pantograph head displacement
Passive control	0.064	0.013	0.036	0.013
Feedback linearized LQR active control	0.051	0.011	0.030	0.009