Collaboration between braking torques and active suspension forces to control a vehicle

In previous papers [2, 3], we studied the problem of making a vehicle brake in a corner with stability, by elaborating suitable independent braking torques for the four wheels. In addition to the previous problem, we are now also interested in using active suspension forces to regulate the vertical dynamics of the vehicle. Then we show how the braking torques and the suspension forces can collaborate to control the global car´s dynamics.