# Catenary emulation for hardware-in-the-loop pantograph testing with a model predictive energy-conserving control algorithm

> Research article (Mechatronics, 2016) · cited 50× · AI/ML

**Wikidata**: [openalex:W2549555248](https://www.wikidata.org/wiki/openalex:W2549555248)  
**Source**: https://4ort.xyz/entity/catenary-emulation-for-hardware-in-the-loop-pantograph-testing-with-a-model-predictive-energy-conserving-control-algorit