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    On the coincidence of optimal completions for small pairwise comparison matrices with missing entries

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    Incomplete pairwise comparison matrices contain some missing judgements. A natural approach to estimate these values is provided by minimising a reasonable measure of inconsistency after unknown entries are replaced by variables. Two widely used inconsistency indices for this purpose are Saaty’s inconsistency index and the geometric inconsistency index, which are closely related to the eigenvector and the logarithmic least squares priority deriving methods, respectively. The two measures are proven to imply the same optimal filling for incomplete pairwise comparison matrices up to order four but not necessarily for order at least five

    Design of an LMI-based Polytopic LQR Cruise Controller for an Autonomous Vehicle towards Riding Comfort

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    In this paper, we present an LMI-based approach for comfort-oriented cruise control of an autonomous vehicle. First, vehicle longitudinal dynamics and a corresponding parameter-dependent state-space representation are explained and discussed. An LMI-based polytopic LQR controller is then designed for the vehicle speed to track the reference value in the presence of noise and disturbances, where the scheduling parameters are functions of the vehicle mass and the speed itself. An appropriate disturbance force compensation term is also included in the designed controller to provide a smoother response. Then we detail how the reference speed is calculated online, using polynomial functions of the given desired comfort level (quantified by the vertical acceleration absorbed by the human body) and of the road type characterized by road roughness. Finally, time-domain simulations illustrate the method’s effectiveness

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