Specifications

Control Based On Multiple Plant Models
4-21
In the upper plot, the cyan curve is the desired position. It starts at –5. The M
1
position
(yellow) starts at 0 and under the control of MPC1, M
1
moves rapidly toward the desired
position. M
2
(magenta) starts at 10 and begins moving in the same direction. At about t =
13 seconds, M
2
collides with M
1
. The switching signal (lower plot) changes at this instant
from 1 to 2, so controller MPC2 has taken over.
The collision moves M
1
away from its desired position and M
2
remains joined to M
1
.
Controller MPC2 adjusts the applied force (middle plot) so M
1
quickly returns to the
desired position.