Q4. The motion of a vehicle steering system can be approximated by a normalised linear model written as = + [= D. CS 01

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Q4 The Motion Of A Vehicle Steering System Can Be Approximated By A Normalised Linear Model Written As D Cs 01 1 (57.29 KiB) Viewed 27 times

Q4. The motion of a vehicle steering system can be approximated by a normalised linear model written as = + [= D. CS 01 [x3] + u y=[1 0 [3] X1 and x2 represent the lateral position and the heading angle of the centre of mass of the vehicle, u is the steering angle of the front wheel, a (0 < a < 1) is a constant parameter. (a) Comment on the performance of the open-loop system. 2 marks (b) Design a state feedback controller that stabilises the system and tracks a given reference r of the position of the vehicle. The expected closed-loop characteristic polynomial is p(s) = s2 + 2wns + wh