A DISCRETE-TIME ROBUST STATE DERIVATIVE FEEDBACK CONTROLLER FOR AN ACTIVE SUSPENSION SYSTEM

This work presents the design and the experimental implementation of a robust state derivativefeedback (SDF) controller in an active suspension system manufactured by Quanserr (Quanser, 2009a). For thispurpose, a discrete-time SDF controller is designed in the presence of parametric uncertainties by using a statederivative model within a regional pole placement approach. In the implementations, only the measurementsfrom accelerometers are employed, a typical motivation for the use of SDF. The dynamic behavior of the activesuspension system is tested for dierent values of the uncertain parameter within its range considered in thecontroller design.