A DISCRETE-TIME ROBUST STATE DERIVATIVE FEEDBACK CONTROLLER FOR AN ACTIVE SUSPENSION SYSTEM
Abstract
This work presents the design and the experimental implementation of a robust state derivative
feedback (SDF) controller in an active suspension system manufactured by Quanserr (Quanser, 2009a). For this
purpose, a discrete-time SDF controller is designed in the presence of parametric uncertainties by using a state
derivative model within a regional pole placement approach. In the implementations, only the measurements
from accelerometers are employed, a typical motivation for the use of SDF. The dynamic behavior of the active
suspension system is tested for dierent values of the uncertain parameter within its range considered in the
controller design.