Robust controller design for automatic car steering problem with nonlinear parametric uncertainties

We consider the specifications for the automatic steering of a city bus based on the IFAC benchmark problem, and design a robust controller for proper automatic steering using μ-synthesis. The success of our design lies on our nonconservative modeling of the nonlinear uncertain parameters of the system into the required P-K-Δ configuration. Furthermore, by considering several typical maneuvers of the bus, we make a comparison between our μ-synthesis based controller and existing applicable controllers. This comparison demonstrates that our controller performs well for the given manoeuvres. The simulation analysis is based on the original nonlinear model of the system