Integral sliding mode control for active suspension systems of half-vehicle model

For these three decades, active suspension systems for vehicle have been studied and various control theories have been applied. One of those control theories is sliding mode control theory, which is extremely systematized in the nonlinear robust control theories. The most useful feature of sliding mode control is to theoretically show the invariant performance against uncertainty of satisfying the matching condition. Sliding mode control seems to be suitable for control of the active suspension for vehicles, since high robustness to uncertainty of masses or actuators is needed. In practice, however, response delay of actuators might cause deterioration of suspension performance especially in high frequency bands. Therefore, we propose a design method of sliding mode controller to lead continuous control inputs with the describing function method.