Abstract
The paper presents the results of investigative studies involving the performance of full linear and non-linear suspension models configured in a low bandwidth active suspension form. The non-linear model includes non-linear spnng stiffness, bilinear damping rates, saturation in the control valve, friction and bilinear bump stops. Initial results compare the two models when making use of a multi-modal controller with fixed gains. It is shown that the non-linear model is able to replicate the actual system more closely and the performance of the non-linear system is then evaluated using an adaptive controller. Results demonstrate that when adaptation is incorporated into the controller the power required to achieve satisfactory performance is reduced.
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