Towards a Fair Comparison between the Nested and Simultaneous Control Co-Design Methods using an Active Suspension Case Study

This paper tackles perhaps the two most common control co-design coordination strategies: simultaneous analysis and design and the nested control problem formulation. Many practical insights into the two strategies are presented using the literature and comprehensive numerical results from a detailed and challenging CCD problem of an active vehicle suspension. The study conducted attempts to provide a fair comparison and discussion between the control co-design coordination implementations. The results indicate a substantial reduction in computational costs over the existing implementations and conclusions on method selection contrary to common assumptions in the literature. However, additional work is needed to provide a robust set of CCD implementation guidelines.