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

Table 3

Simulation performance index of type II pantograph parameters.

(a) Statistical comparison of pantograph-catenary contact force.
Control modes	Max/N	Min/N	Mean/N	STD
Passive control	146.60	45.38	98.25	20.72
Feedback linearized LQR active control	116.27	43.24	72.84	10.67
(b) Statistical comparison of pantograph head displacement
Passive control	0.060	0.014	0.036	0.012
Feedback linearized LQR active control	0.040	0.013	0.026	0.006