ROBUST-CONTROL OF LINEAR ACTIVE SUSPENSIONS

Control of an active suspension system with uncertain parameters is st udied. A simple heave two-degree-of-freedom vehicle model is considere d. A state variable feedback and an integral plus state variable feedb ack controllers are designed for the nominal system. A memoryless nonl inear feedback controller is superimposed on the nominal controllers t o compensate for the uncertainties. The design of the robust controlle r does not require any a priori statistics for the uncertain parameter s, only bounding sets are taken as given. Simulation studies show that the proposed controller results in better attitude control without sa crificing the ride comfort.