Condition | \(d\left( k \right)\) |
---|---|
\(LTR \ge 0.55\) only | \(d\left( k \right) = \left[ {\begin{array}{*{20}c} {\dot{\psi }\left( k \right)} & {\text{sgn} \left( {a_{y} } \right)LTR_{d} \left( k \right)} \\ \end{array} } \right]^{\text{T}} ,\) \(LTR_{d} = 0.55,\) |
\(\left| {\dot{\psi } - \dot{\psi }_{d} } \right| \ge 1.15^\circ \approx 0.02\;{\text{rad}}\) only | \(d\left( k \right) = \left[ {\begin{array}{*{20}c} {\dot{\psi }_{d} \left( k \right)} & {\text{sgn} \left( {a_{y} } \right)LTR\left( k \right)} \\ \end{array} } \right]^{\text{T}} ,\) |
\(LTR \ge 0.55\) and \(\left| {\dot{\psi } - \dot{\psi }_{d} } \right| \ge 1.15^\circ\) | \(d\left( k \right) = \left[ {\begin{array}{*{20}c} {\dot{\psi }_{d} \left( k \right)} & {\text{sgn} \left( {a_{y} } \right)LTR_{d} \left( k \right)} \\ \end{array} } \right]^{\text{T}} ,\) \(LTR_{d} = 0.55.\) |