Semiactive suspension design taking into account the actuator delay

In this paper we present a design procedure for semiactive suspensions of road vehicles. In the first phase we design an asymptotic state observer that reveals to be particularly efficient in the presence of external disturbances. We also derive a target active control law that minimizes a quadratic performance index and takes the form of a feedback control law. Finally. in the second phase, we approximate the target law by controlling the damper coefficient f of the semiactive suspension. To improve the efficiency of the proposed system, we take into account the updating frequency of the coefficient f-imposed by present technology-and compute the expected value of f using a predictive procedure