Internal model-based optimal vibration control for linear vehicle suspension systems with actuator delay

The problem of optimal vibration control for active vehicle suspension systems with actuator delay is considered. Based on the model transformation, the quarter-car suspension system with actuator delay is transformed into a delay-free one. The existence and uniqueness of the optimal control law are proved. The vibration control law is obtained by solving an optimal regulation problem. A dynamic compensator is designed, which is combined by an internal model and an optimal control. The actuator delay is compensated by a control memory term. Numerical simulations are used to illustrate the effectiveness of the optimal vibration control.