RI definition
Examples of RI in a sentence
At Ri i is “small enough”, then time t = (k + 1)N consider the new reference is rk+1 ∈ .
There is therefore a tradeoff: the designer must choose between constraints on reference signals (Ri) and constraints on reference speed (Ri(Ni)).
Another issue related to tuning of the upper control layer is the choice of ∆Ki for each i: from one hand a larger ∆Ki tightens the range of admissible references Ri, but on the other hand it enlarges the size of the invariant set Ωi(ri), and therefore augments the achievable ∆ri(Ni).
Assume that the reference rk ∈ Ri is issued at the sampling instant t = kNi and that Ni is large enough so that xi(t + Ni − 1) ∈ Ωi(rk), for all i = 1, .