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Positivity and stabilization of driver support systems

Wang L., Ackermann J.

Control and Cybernetics

1999

Vol. 28, no 1

53-59

In this paper, we first show that the transfer function from the front steering angle to yaw rate is strictly positive real, irrespective of the uncertain mass and unceratin velocity. We then show how to determine the positivity margin for this transfer function. Some stabilization results are obtained. Finally, we show how to check the positivity of a controller family.