Differential Evolution-Based PID Control of Nonlinear Full-Car Electrohydraulic Suspensions

Table 2

PID tuning parameters.

Technique	Outer PID loop gains			Inner PID loop gains
	𝐾𝑝	𝐾𝑖	𝐾𝑑	𝑘𝑝	𝑘𝑖	𝑘𝑑
	Front right suspension system
Manual	1100	360	140	0.002	0.001	0
DE	5837.262	239.436	−123.923	4.783×10^−3	2.563×10^−3	3.618×10^−9
	Front left suspension system
Manual	1050	170	220	0.002	0.001	0
DE	1692.418	267.7925	166.1722	0.003855	0.001056	3.124×10^−9
	Rear right suspension system
Manual	1200	340	150	0.002	0.001	0
DE	5051.295	269.968	702.321	0.003084	0.001891	3.117×10^−9
	Rear left suspension system
Manual	1000	200	200	0.002	0.001	0
DE	3762.704	−54.3744	−415.94	0.004145	0.004006	1.992×10^−9