ADDITIONAL NOTES ON THE TORA EXAMPLE - A FILTERING APPROACH TO ELIMINATE VELOCITY-MEASUREMENTS

This letter is an addendum to the control design solutions presented b y Jankovic et al. for the benchmark TORA system. A high-pass filter is proposed to approximately differentiate the input position signal, th ereby yielding an approximate velocity signal for use in the input con trol. The filter and control input are designed through a Lyapunov ana lysis, thus accounting for the effect of the pseudo-velocity signal in the closed-loop system (in spite of the fact that the filter output i s not guaranteed to fully recreate the true velocity). The stability a nalysis shows that the closed-loop system Is globally asymptotically s table. Computer simulations illustrate that the transient behavior of the controllers designed here is nearly equivalent to those proposed b y Jankovic et al.