Two-degree-of-freedom formulation of vehicle handling improvement by active steering

Presents coprime factors based two-degree-of freedom H_∞ control for vehicle handling improvement. Control synthesis uses a linear vehicle model which includes the yaw motion and disturbance input. The synthesis procedure allows the separate processing of the robust stabilization problem and reference signal or disturbance rejection. The control action is applied as an additional steering angle, by combination of the driver input and feedback of the yaw rate. The synthesized controller is tested in both disturbance rejection and driver imposed yaw reference tracking maneuvers. The maneuvers are completed at different speeds and road conditions