. Par, interne de stabilisation n'est plus nécessaire, le mode souple étant suffisamment haut en fréquence et amorti pour ne pas perturber le fonctionnement du système dans la bande utilisée pour le contrôle

. Dans-le-cas-présent, l'avantage d'une commande analytique prend tout son sens. En effet, malgré les modifications apportées au modèle de référence, il n'est pas nécessaire de recalculer la commande mais de simplement mettre à

S. Le-prototype and . Fourni-par-renault-est-Équipé-d, une Autobox contrôlée par le logiciel Control- Desk (DSpace) Le portage des lois de commande sur le véhicule se fait alors simplement par compilation du schéma Simulink des lois de commande afin de les exporter vers l'Autobox, Bien entendu, certaines précautions doivent prises au préalable avant la compilation: ? tous les contrôleurs doivent être discrétisés

. Le-phénomène-de-clavetage-est-intrinsèquement-lié-au-phénomène, Cependant, il n'est pour l'instant pas possible d'expliquer exactement l'origine complète du clavetage tant de nombreux éléments peuvent entrer en ligne de compte: ? la géométrie du train avant

@. La-loi-d, assistance permet de retarder la montée en effort du couple d'assistance en fonction du couple conducteur. Cependant, l'effet n'est pas suffisant pour les micro braquages

. @bullet-?-clav, l'angle volant à partir duquel la sensation de clavetage disparaît

. La-sortie-est-un-couple, La Figure 6.21 décrit les différentes phases de la fonction de clavetage. (a) Le volant sort de la position de repos (angle zéro). L'effort est de la forme N clav (V ) K p (V ) ? v jusqu'à ce que l'angle ? clav (V ) soit atteint. L'effort tend alors à redevenir

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