In this paper, an integrated controller for a full-vehicle active suspension system is designed to simultaneously improve vehicle ride comfort and steady-state handling performance. First, the suspension and handling sub-system models and the nonlinear relationship between tyre normal load and lateral force are described. Next, the link between suspension model and steady-state handling characteristics is analysed. Then, based on the analysis, an H∞ controller is designed for the suspension sub-system to achieve integrated ride comfort and handling performance control. Finally, the controller is verified through computer simulations in frequency- and time-domains.
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Wang et al. (2006) studied this question.