Robust Nonfragile Control of Lateral Semiactive Suspension of Rail Vehicles

Table 6

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	-6.4136	-32.5642	52.6622	-40.0488
	0.0004	-2.1884 + 8.7767i	-0.0190	-0.6795 + 8.9088i
	0.0001	-2.1884 - 8.7767i	0.0000	-0.6795 - 8.9088i
	-0.0001	-0.6891	0.0000	-0.7523
With perturbation	-250.8154	-8.6896+22.3172i	-191.76	-10.2541 +18.6985i
	-0.0164	-8.6896 -22.3172i	-0.0200	-10.2541 -18.6985i
	-0.0000	-1.9441	0.0000	-2.8406
	0.0000	0.4633	0.0000	-0.0412