@ARTICLE{Ajala_Oussama_Modelling_2013, author={Ajala, Oussama and Bestle, Dieter and Rauh, Jochen}, volume={vol. 60}, number={No 1}, journal={Archive of Mechanical Engineering}, pages={37-54}, howpublished={online}, year={2013}, publisher={Polish Academy of Sciences, Committee on Machine Building}, abstract={Active suspension systems ease the conflict between comfort and handling. This requires the use of suitable actuators that in turn need to be efficiently controlled. This paper proposes a model-based control approach for a nonlinear suspension actuator. Firstly the concept is derived in the linear framework in order to simplify the synthesis and analysis phase. There a linear model of the actuator is proposed and discussed. Further, this design phase includes a comparison between model-free PID controllers and a newly proposed two-degree-of-freedom controller which allows one to shape reference and disturbance responses separately. Subsequently, the two-degree-of-freedom controller, which proves to be superior, is adapted to the nonlinear framework by considering a linear parameter varying representation of the nonlinear plant. Finally, the nonlinear controller is implemented in a test car confirming the concept applicability to real hardware.}, type={Artykuły / Articles}, title={Modelling and control of an electro-hydraulic active suspension system}, URL={http://www.journals.pan.pl/Content/84674/PDF/03_paper.pdf}, doi={10.2478/meceng-2013-0003}, keywords={vehicle dynamics, modelling, two-degree-of-freedom control, active suspension, full-car control}, }