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Mixed-Sensitivity H∞ Control and µ Analysis of Active Automobile Suspension

[+] Author Affiliations
Hemanth Porumamilla, Atul G. Kelkar

Iowa State University

Paper No. IMECE2004-60339, pp. 151-158; 8 pages
  • ASME 2004 International Mechanical Engineering Congress and Exposition
  • Applied Mechanics
  • Anaheim, California, USA, November 13 – 19, 2004
  • Conference Sponsors: Applied Mechanics Division
  • ISBN: 0-7918-4702-0 | eISBN: 0-7918-4178-2, 0-7918-4179-0, 0-7918-4180-4
  • Copyright © 2004 by ASME


This study presents an H∞ -based robust control design for an active automobile suspension system and compares its performance with a previously designed robust LQG controller and a well tuned PI controller from contemporary literature. The robustness of the controller designs is assessed by performing μ analysis of the closed loop system. The H∞ problem is formulated as a stacked nominal performance problem. The weighting functions on complementary sensitivity, sensitivity, and controller transfer functions are chosen to obtain desirable trade-off in performance and robustness. The main objective of the controller design is to provide ride comfort for passengers. The controller design presented in this paper is shown to provide robust stability as well as desirable robust performance which is an improvement over the previously designed robust LQG controller and a PI controller chosen from contemporary literature.

Copyright © 2004 by ASME
Topics: Automobiles



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