Design of an adaptive controller under unknown disturbance input for active suspension systems

In this paper, an adaptive backstepping controller is designed where theroad disturbance is assumed that it is not measured. therefore, thedisturbance is modelled as a sum of sinusoidals where amplitude, phaseand frequency are considered as unknown. then, the observer isparametrized. after the design of the observer, an adaptive controller isdesigned with using backstepping technique. it is proven that the closedloop system is stable and the acceleration of the body is attenuatedunder the effect of the road disturbance. to reveal the performance ofthe controller, a simulation is illustrated with road test.