Performance and Stability Barriers for Robust Control Designs of SUV Active Suspensions

Abstract

AbstractAn important goal in the design of controllers is the stability and performance robustness of the controlled system, seeking to avoid that modelling errors impair the performance or even the stability of the controlled system. To work with poor models may be a choice of the designer to avoid, for example, slow controlled system responses or may be the result of lack of explicit information to construct better models. One way to guarantee that robust control is achieved is to establish robustness barriers in the frequency domain, which the controlled system should not overcome, guaranteeing robustness when working in an allowed area. This paper presents the construction of the robustness barriers to be used in multivariable control system designs of an active suspension of a SUV, a light pick-up truck. Results are based on simulations and practical experiments with a real SUV, used to define the barriers. Results are presented and analysed.