PI-PD Controller Design Based on Weighted Geometric Center Method for Time Delay Active Suspension Systems

Abstract

In this study, a PI-PD controller was designed via weighted geometric center method (WGC) for a quarter vehicle model to suppress the vertical vibrations. The proposed design is based on finding the weighted geometric center of the area formed by the control parameters that make the system stable. The WGC method has two main stages. First, an area formed by the parameters of the PD controller (kf, kd) in the inner loop is obtained and the weighted geometric center of this area is calculated. Then, using these obtained parameters, the inner loop is reduced to a single block, and the parameters of the PI controller in the external loop (kp, ki) are calculated using the stability boundary curve as in the first step, and the weighted geometric center is calculated. The simulation results show that the PI-PD controller designed with the weighted geometric center method offers successful responses for the time delay quarter vehicle system.