The present document covers the modeling
and control of a tram that runs
free of overhead lines, and draws the
power from a battery pack. The goal
of this works is to derive two control
strategies, that can then be compared.
The first strategy is closer to the conservative
approach taken by the industry.
The second one, is what is known
as Model Predictive Control. The thesis
covers the modeling of the tram first,
and then the design of the controllers.
The conservative strategy includes a series
of linear controllers and makes use
of EKF as estimators. Simulation results
are shown. The MPC strategy is
covered and setup. However, no results
are shown.