Design and Performance Assessment of Adaptive Harmonic Control for a Half-Car Active Suspension System

Table 2

Performance criteria of body travel, body acceleration, suspension deflection, and actuator force.

Performance criteria	Open-loop		Harmonic		Classic PI
	Front	Rear	Front	Rear	Front	Rear
Body travel
Max. value	0.02777	0.02816	0.00646	0.00661	0.01296	0.01283
Min. value	−0.02044	−0.01299	−0.00308	−0.00361	−0.00284	−0.00215
ITAE	0.0307	0.0195	0.0088	0.0066	0.0073	0.0078
Body acceleration
Max. value	2.322	3.015	0.4251	0.6887	1.121	1.261
Min. value	−1.622	−2.527	−0.4686	−0.4834	−0.5544	−0.6477
ITAE	0.9103	0.9414	0.2508	0.2328	0.1020	0.1581
Suspension deflection
Max. value	0.02769	0.03090	0.01350	0.01323	0.01577	0.01702
Min. value	−0.04688	−0.04431	−0.05951	−0.05835	−0.05512	−0.05497
ITAE	0.0287	0.0188	0.0090	0.0084	0.0077	0.0094
Actuator force
Max. value	0	0	0.4377	0.4897	0.3027	0.3804
Min. value	0	0	−1.464	−1.371	−0.9230	−1.030
ITAE	0	0	0.0696	0.0944	0.0907	0.1238

Bold texts represent the favourable values. Italic texts represent the unfavourable values.