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

(1)含非线性元件的主动悬架建模，(2)基于奇异摄动法和反馈线性化的主动悬架系统控制律设计，(3)主动悬架系统仿真，(4)对实际车辆的控制效果进行了讨论；(5)通过实验对所提出的控制律和H_*控制律进行了比较。由于整个系统被分解为两个分别与平顺性和平稳性有关的低阶子系统(快子系统和慢子系统)，采用奇异摄动法简化了主动悬架的控制设计。一般情况下，主动悬架系统的线性化是非常困难的，但所提出的控制设计方法可以很容易地将每个子系统线性化。因此，我们可以应用线性控制设计方法来改善这两个性质，也可以用奇异摄动法分别设计这两个性质。因此，总体控制设计也变得更加容易。

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.