Robust Nonfragile Control of Lateral Semiactive Suspension of Rail Vehicles

Table 5

Vehicle body vibration acceleration zero pole value.

Controller gain	Conventional robust Control		Robust non-fragile control
	Zero point z	Pole p	Zero point z	Pole p
Without perturbation	-2.1322 + 8.9026i	-32.5642	-1.1022 + 8.9834i	-40.0488
	-2.1322 - 8.9026i	-2.1884 + 8.7767i	-1.1022 - 8.9834i	-0.6795 + 8.9088i
	-0.6741	-2.1884 -8.7767i	-0.9034	-0.6795 - 8.9088i
	0.0000	-0.6891	0.0000	-0.7523
With perturbation	-6.3286 + 7.7512i	-8.6896+22.3172i	-5.3252 + 8.1739i	-10.2541+18.6985i
	-6.3286 - 7.7512i	-8.6896 -22.3172i	-5.3252 - 8.1739i	-10.2541 -18.6985i
	0.1587	-1.9441	-0.0172	-2.8406
	0.0000	0.4633	0.0000	-0.0412