Abstract
Control system design is discussed for a semi-active suspension system of vehicles. For the disturbance rejection problem, l1 state feedback controllers are designed. An l1 controller can specify the maximum magnitude of outputs against certain road disturbances in the time domain, regardless of the frequency of the road disturbances. That property enables a semi-active suspension to be formulated as an unconstrained linear system, while it is usually modeled as a bilinear system or a linear system with a constraint. In this paper, not only a controller for a nominal model, but also a controller considering robust performance is designed. Static nonlinear first order homogeneous state feedback controllers, which require a moderate amount of calculation, are constructed for the linear system by applying l1 near-optimal control theory with an appropriate approximation method.
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