Research on the Control of Nonlinear System Using the Singular Perturbation Method -Application to the Active Suspension Control-

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This research has been carried out as following :(1) Modeling of the active suspension with nonlinear elements,(2) Design of the control law for the active suspension system using the singular perturbation method and feedback linearization,(3) Simulation of the active suspension system,(4) Discussion of the control effects of the examination by an actual car and(5) Comparison of the proposed control law and the H_* control law through the experiment.The control design of the active suspension is simplified by using the singular perturbation method because the full system is decomposed into two low order subsystems (slow and fast subsystems) that are related to the ride quality and the road holding property respectively. In general it is very difficult to linearize the active suspension system, but each subsystem can be linearized easily by the proposed control design method. So we can apply the linear control design method to improvement the both properties.Also we can design the two properties separately by the singular perturbation method. Therefor the total control design also become easier.