Zhang, H., Shuai, Z., Wang, J., and Karimi, H., "Design of Robust Active Load-Dependent Vehicular Suspension Controller via Static Output Feedback," SAE Technical Paper 2013-01-2367, 2013, doi:10.4271/2013-01-2367.
In this paper, we focus on the active vehicular suspension controller design. A quarter-vehicle suspension system is employed in the system analysis and synthesis. Due to the difficulty and cost in the measuring of all the states, we only choose two variables to construct the feedback loop, that is, the control law is a static-output-feedback (SOF) control. However, the sensor reduction would induce challenges in the controller design. One of the main challenges is the NP-hard problem in the corresponding SOF controller design. In order to deal with this challenge, we propose a two-stage design method in which a state-feedback controller is firstly designed and then the state-feedback controller is used to decouple the nonlinear conditions. To better compensate for the varying vehicle load, a robust load-dependent control strategy is adopted. The proposed design methodology is applied to a suspension control example. Simulation and comparison results illustrate the good performance of the designed controller.