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This paper proposes a robust guaranteed-cost controller for a half-vehicle active suspension system (HVASS) where the controller is subject to stochastic gain fluctuations. This randomly occurring uncertainty is a result of the imperfect implementation of the controller as well as the aging of the components. In this approach, the state-feedback controller is represented via multiple gains orchestrated by a Markovian process, and then an optimal multi-mode design approach with  H2  norm constraints is considered to ensure system’s asymptotic stability with a prescribed disturbance attenuation level. This design is based on Lyapunov theory and the controller is realized via a set of linear matrix inequalities. Compared to the existing works, the design is more reliable for practical HVASSs and is directly reducible to systems with perfectly implemented controllers. Simulation results and comparisons demonstrate the applicability and potentials of the proposed method.

Robust Guaranteed-Cost Control for Half-Vehicle Active Suspension Systems Subject to Markovian Controller Uncertainties