Network-Level Optimal Control for Public Bus Operation
Paper in proceeding, 2020

The paper presents modeling, control and analysis of an urban public transport network. First, a centralized system description is given, built up from the dynamics of individual buses and bus stops. Aiming to minimize three conflicting goals (equidistant headways, timetable adherence, and minimizing passenger waiting times), a reference tracking model predictive controller formulated based on the piecewise-affine system model. The closed-loop system is analyzed with three methods. Numerical simulations on a simple experimental network showed that the temporal evolution of headways and passenger numbers could maintain their periodicity with the help of velocity control. With the help of randomized simulation scenarios, sensitivity of the system is analyzed. Finally, infeasible regions for the bus network control was sought using by formulating an explicit model predictive controller.

Automatic control

Modeling and simulation of transportation systems


real-time operations in transportation


Balazs Varga

Budapest University of Technology and Economics

Tamas Peni

Hungarian Academy of Sciences

Balázs Adam Kulcsár

Chalmers, Electrical Engineering, Systems and control, Automatic Control

T. Tettamanti

Budapest University of Technology and Economics


24058963 (eISSN)

Vol. 53 2 15003-15010

21st IFAC World Congress on Automatic Control - Meeting Societal Challenges
Berlin, Germany,

Public transit shared mobility - connected and safe solutions

Chalmers, 2019-03-01 -- 2020-02-29.

Chalmers, 2020-03-01 -- 2021-03-01.

OPerational Network Energy managemenT for electrified buses (OPNET)

Swedish Energy Agency (46365-1), 2018-10-01 -- 2021-12-31.

Areas of Advance


Subject Categories

Transport Systems and Logistics

Embedded Systems

Control Engineering



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