Controller parametrisation for disturbance response decoupling: application to vehicle active suspension control

This paper presents a parametrisation of the set of all stabilising controllers for a given plant which leaves some pre-specified closed-loop transfer function fixed. This result is motivated by the need to independently shape several different disturbance transmission paths in vehicle active suspension control. The result is studied in the context of quarter-, halfand full-car vehicle models, to derive appropriate controller structures. A controller design is carried out for the full-car case and simulated with the nonlinear vehicle dynamics model.