5. \(H_{\infty }\)/LPV Robust Controller Design for Active Anti-Roll Bar System

This chapter presents a methodology to design an \(H_{\infty }/LPV\) controller for the active anti-roll bar system. The control-oriented model and the fully integrated single unit heavy vehicle model, including the Yaw-Roll model and four ESVH actuator models are used. The nonlinear model of the vehicle is considered as an LPV model and the controller synthesis method is Grid-based LPV approach based on LPVTools^TM toolbox, where the forward velocity is considered as a scheduling parameter. The effect of the internal oil leakage inside the electronic servo-valve on the closed-loop system is analysed in detail. It shows that the two objectives of enhancing the vehicle roll stability and avoiding the saturation of the ESVH actuators are simultaneously satisfied when the total flow pressure coefficient \(K_{P}\) is limited in a given range.