Active suspension with a limited authority adaptive control

The paper presents feedback control algorithm for active vehicle suspension systems. The algorithm uses internal model of the system which is composed with two parts: disturbances path and control path. The first is highly non-stationary while the second is constituted with relatively fixed-parameters. This difference justifies the use of limited authority adaptive control, where only disturbance path is subjected to identifycation. The controller is derived in a direct adaptive form where the parameters of the controller are identified directly. Pole placement methodology is also involved to provide a room for upper-layer optimization which allows for inclusion additional requirements, for example optimal contact between wheels and road surface.