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I am confident that there will be some cost savings due to the implementation of this controller.
It is proved that the implementation of this controller into each subsystem leads to the quadratic stability of the overall closed-loop system.
The implementation of this controller is based on three main blocks, a stabilization block, a vibration minimization block and, if needed, a dynamics decoupler block between the previous ones.
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In this case, the implementation of the controller requires the computation of Lie derivatives, which have been computed symbolically.
Due to approximations in the controller design, construction, installation and implementation of the controller is necessary and this is the purpose of our future works.
Besides, the implementation of the controller is to feedback the control signal to an input into a generator, not achieved directly.
Such a hardware implementation of the controller enables effective execution of concurrent control tasks by parallel operation of the control processing units.
Hardware implementation of this intelligent controller is performed by a DSP with VisSim platform.
Furthermore, a proof-of-concept implementation of this CACC controller structure has been developed within the Connect&Drive [17, 18] project and shows promising results.
Further, implementation of the controller requires measurement of output derivatives.
Detailed structure and implementation of the controller are discussed.
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