Design of a two-level controller for an active suspension system

Research output: Contribution to journalReview article

9 Citations (Scopus)


The paper focuses on a control design for a vehicle suspension system in which a balance between different performance demands is achieved. The starting point of the control design is a full-car model which contains nonlinear components, i.e. the dynamics of the dampers and springs and nonlinear actuator dynamics. In order to handle the high complexity of the problem this paper proposes the design of a two-level controller of an active suspension system. The required control force is computed by applying a high-level controller, which is designed using a linear parameter varying (LPV) method. For the control design the model is augmented with weighting functions specified by the performance demands and the uncertainty assumptions. The actuator generating the necessary control force is modelled as a nonlinear system for which a low-level force-tracking controller is designed. To obtain the low-level controller a backstepping method is proposed. As an alternative solution a feedback linearization method is also presented. The operation of the controller is illustrated through simulation examples.

Original languageEnglish
Pages (from-to)664-678
Number of pages15
JournalAsian Journal of Control
Issue number3
Publication statusPublished - May 1 2012


  • LPV control
  • Nonlinear control
  • active suspension
  • backstepping
  • tracking control

ASJC Scopus subject areas

  • Control and Systems Engineering

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