Despite controversial political beginnings, the West Virginia University Personal Rapid Transit (PRT) system in Morgantown, WV is now receiving the credit it deserves. With over thirty years of operation and no fatalities nor major injuries, the system continues to be an efficient and reliable example of automated transit. When expansions are considered, however, the price tag is always a shock...

The modeling methodology of tilting train is studied. The vehicle and pantograph are considered as nonlinear multiple rigid body systems, and the catenary is modeled by FEM method. The electrical mechanical actuators for carbody and pantograph tilting control are also considered in the tilting train model. The method of on-line curving detection, filtering and control is adopted for the tilting...