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Title: Observer-based control for active suspension system with time-varying delay and uncertainty
Authors: Wang, KY
He, R
Li, H 
Tang, JH
Liu, RC
Li, YM 
He, P
Keywords: Automobile engineering
Active suspension system
Dynamic output feedback
Observer-based controller
Time-varying delay
Issue Date: 2019
Publisher: SAGE Publications
Source: Advances in mechanical engineering, Nov. 2019, v. 11, no. 11, p. 1-13 How to cite?
Journal: Advances in mechanical engineering 
Abstract: Time-varying input delay of actuators, uncertainty of model parameters, and input and output disturbances are important issues in the research on active suspension system of vehicle. In this article, a design methodology involving state observer and observer-based dynamic output-feedback H infinity controller considering the above four factors simultaneously is put forward for active suspension system. First, the dynamics equations of active suspension system with time-varying delay are established according to its structure and principle, and its state equations, state observer, and observer-based controller considering time-varying delay, uncertainty of model parameters, and input and output disturbances are given separately. Second, the observer-based controller for quarter-vehicle active suspension system is designed in terms of the linear matrix inequality and the Lyapunov-Krasovskii functional, and the design problem of observer-based controller is converted into the solving problem of linear matrix inequalities. Finally, the gain matrix of observer and the gain matrix of controller are obtained by means of the developed controller and the model parameters of active suspension system; the MATLAB/Simulink model of this system is established; and three numerical simulation cases are given to show the effectiveness of the proposed scheme.
ISSN: 1687-8132
EISSN: 1687-8140
DOI: 10.1177/1687814019889505
Rights: © The Author(s) 2019
Creative Commons CC BY: This article is distributed under the terms of the Creative Commons Attribution 4.0 License ( which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (
The following publication Wang, K. Y., He, R., Li, H., Tang, J. H., Liu, R. C., Li, Y. M., & He, P. (2019). Observer-based control for active suspension system with time-varying delay and uncertainty. Advances in Mechanical Engineering, 11(11), 1-13 is available at
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