Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability

Carlos Escobar; Luis Severino; Héctor Ramírez; Andrés Peters; Francisco Vargas

doi:10.1109/CHILECON66915.2025.11476060

Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability

Carlos Escobar
, Luis Severino
, Héctor Ramírez
, Andrés Peters
, Francisco Vargas

Faculty of Engineering and Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this work, we study string stability in vehicle platoons based on linear quadratic integral control (LQI). We focus on platoons modeled as continuous time LTI systems under a predecessor-following configuration with a time headway spacing policy. To ensure zero steady-state tracking error, we employ the LQI technique with double integration. Through numerical simulations, we show the relationship between the time headway constant and the weighting matrices of the LQI cost functional and how these design parameters affect string stability. Index Terms-string stability, platooning system, LQI, double integrator.

Original language	English
Title of host publication	2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025
Editors	Gaston Lefranc, Claudio Cubillos
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350357363
DOIs	https://doi.org/10.1109/CHILECON66915.2025.11476060
State	Published - 2025
Event	2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025 - Valparaiso, Chile Duration: 28 Oct 2025 → 30 Oct 2025

Publication series

Name	Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon
ISSN (Print)	2832-1529
ISSN (Electronic)	2832-1537

Conference

Conference	2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025
Country/Territory	Chile
City	Valparaiso
Period	28/10/25 → 30/10/25

Access to Document

10.1109/CHILECON66915.2025.11476060

Cite this

Escobar, C., Severino, L., Ramírez, H., Peters, A., & Vargas, F. (2025). Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability. In G. Lefranc, & C. Cubillos (Eds.), 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025 (Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CHILECON66915.2025.11476060

Escobar, Carlos ; Severino, Luis ; Ramírez, Héctor et al. / Linear Quadratic Integral Control with Double Integrator for Platooning System : A Numerical Study of String Stability. 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025. editor / Gaston Lefranc ; Claudio Cubillos. Institute of Electrical and Electronics Engineers Inc., 2025. (Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon).

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title = "Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability",

abstract = "In this work, we study string stability in vehicle platoons based on linear quadratic integral control (LQI). We focus on platoons modeled as continuous time LTI systems under a predecessor-following configuration with a time headway spacing policy. To ensure zero steady-state tracking error, we employ the LQI technique with double integration. Through numerical simulations, we show the relationship between the time headway constant and the weighting matrices of the LQI cost functional and how these design parameters affect string stability. Index Terms-string stability, platooning system, LQI, double integrator.",

author = "Carlos Escobar and Luis Severino and H{\'e}ctor Ram{\'i}rez and Andr{\'e}s Peters and Francisco Vargas",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025 ; Conference date: 28-10-2025 Through 30-10-2025",

year = "2025",

doi = "10.1109/CHILECON66915.2025.11476060",

language = "English",

series = "Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

editor = "Gaston Lefranc and Claudio Cubillos",

booktitle = "2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025",

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Escobar, C, Severino, L, Ramírez, H, Peters, A & Vargas, F 2025, Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability. in G Lefranc & C Cubillos (eds), 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025. Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon, Institute of Electrical and Electronics Engineers Inc., 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025, Valparaiso, Chile, 28/10/25. https://doi.org/10.1109/CHILECON66915.2025.11476060

Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability. / Escobar, Carlos; Severino, Luis; Ramírez, Héctor et al.
2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025. ed. / Gaston Lefranc; Claudio Cubillos. Institute of Electrical and Electronics Engineers Inc., 2025. (Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Linear Quadratic Integral Control with Double Integrator for Platooning System

T2 - 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025

AU - Escobar, Carlos

AU - Severino, Luis

AU - Ramírez, Héctor

AU - Peters, Andrés

AU - Vargas, Francisco

PY - 2025

Y1 - 2025

N2 - In this work, we study string stability in vehicle platoons based on linear quadratic integral control (LQI). We focus on platoons modeled as continuous time LTI systems under a predecessor-following configuration with a time headway spacing policy. To ensure zero steady-state tracking error, we employ the LQI technique with double integration. Through numerical simulations, we show the relationship between the time headway constant and the weighting matrices of the LQI cost functional and how these design parameters affect string stability. Index Terms-string stability, platooning system, LQI, double integrator.

AB - In this work, we study string stability in vehicle platoons based on linear quadratic integral control (LQI). We focus on platoons modeled as continuous time LTI systems under a predecessor-following configuration with a time headway spacing policy. To ensure zero steady-state tracking error, we employ the LQI technique with double integration. Through numerical simulations, we show the relationship between the time headway constant and the weighting matrices of the LQI cost functional and how these design parameters affect string stability. Index Terms-string stability, platooning system, LQI, double integrator.

UR - https://www.scopus.com/pages/publications/105038008725

U2 - 10.1109/CHILECON66915.2025.11476060

DO - 10.1109/CHILECON66915.2025.11476060

M3 - Conference contribution

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T3 - Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon

BT - 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025

A2 - Lefranc, Gaston

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PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 28 October 2025 through 30 October 2025

ER -

Escobar C, Severino L, Ramírez H, Peters A, Vargas F. Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability. In Lefranc G, Cubillos C, editors, 2025 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, CHILECON 2025. Institute of Electrical and Electronics Engineers Inc. 2025. (Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon). doi: 10.1109/CHILECON66915.2025.11476060

Linear Quadratic Integral Control with Double Integrator for Platooning System: A Numerical Study of String Stability

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