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78  Abstract—In this paper, a nonlinear optimal control law based on a quadratic cost function is developed, and applied on a half-car model for the control of active suspension systems. Nonlinear model of half-car is constructed using the nonlinear dynamics of the electro hydraulic actuator and dynamic characteristics of the dampings and springs. The states of half car model are first estimated by Extended Kalman Filter (EKF) and then the estimated states predicted by Taylor series expansion and finally a control law is introduced by minimizing the local differences between the predicted and desired states. The derived control law has an analytical form which is easy to apply and also it is not required online numerical computations in optimization. Performance of the nonlinear optimal controller is compared to the existing passive suspension system and the proportional integral sliding mode controller. The obtained results demonstrate that use of the proposed nonlinear optimal control technique improves the tradeoff between ride quality and suspension travel compared to the passive suspension system and the proportional integral sliding mode method.

A New Optimal Nonlinear Approach to Half Car Active Suspension Control