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This paper presents a combined mu-synthesis PID control scheme, employing afrequency separation paradigm, for a recently proposed novel active suspension,the Parallel Active Link Suspension (PALS). The developed mu-synthesis controlscheme is superior to the conventional H-infinity control, previously designedfor the PALS, in terms of ride comfort and road holding (higher frequencydynamics), with important realistic uncertainties, such as in vehicle payload,taken into account. The developed PID control method is applied to guaranteegood chassis attitude control capabilities and minimization of pitch and rollmotions (low frequency dynamics). A multi-objective control method, whichmerges the aforementioned PID and mu-synthesis-based controls is furtherintroduced to achieve simultaneously the low frequency mitigation of attitudemotions and the high frequency vibration suppression of the vehicle. Aseven-degree-of-freedom Sport Utility Vehicle (SUV) full car model with PALS,is employed in this work to test the synthesized controller by nonlinearsimulations with different ISO-defined road events and variable vehiclepayload. The results demonstrate the control scheme's significant robustnessand performance, as compared to the conventional passive suspension as well asthe actively controlled PALS by conventional H-infinity control, achieved for awide range of vehicle payload considered in the investigation.

Mu-synthesis PID Control of Full-Car with Parallel Active Link Suspension Under Variable Payload