Smith Predictor-Taylor Series-Based LQG Control for Time Delay Compensation of Vehicle Semiactive Suspension

Table 3

Simulation results of the passive, LQG, STLQG, SLQG, and TLQG control.

Evaluator	Passive	LQG	STLQG	SLQG	TLQG
τ = 15 ms
RMS (a2) (m/s^2)	2.0249	1.5224	1.5124	1.5522	1.4704
RMS (z1 − q) (m)	0.0040	0.0043	0.0042	0.0044	0.0039
RMS (z2 − z1) (m)	0.0107	0.0112	0.0109	0.0111	0.0112
J	5.3929	3.8067	3.8075	4.0075	3.6146
τ = 20 ms
RMS (a2) (m/s^2)	2.0249	1.6387	1.5418	1.5994	1.6458
RMS (z1 − q) (m)	0.0040	0.0050	0.0044	0.0047	0.0038
RMS (z2 − z1) (m)	0.0107	0.0115	0.0109	0.0115	0.0110
J	5.3929	4.5892	3.9712	4.3978	3.9722
τ = 25 ms
RMS (a2) (m/s^2)	2.0249	2.1771	1.568	1.6382	1.7959
RMS (z1 − q) (m)	0.0040	0.01	0.0046	0.0049	0.0039
RMS (z2 − z1) (m)	0.0107	0.014	0.0111	0.012	0.011
J	5.3929	11.3037	4.1916	4.5640	4.5349
τ = 30 ms
RMS (a2) (m/s^2)	2.0249	91.6688	1.5781	1.6854	1.8735
RMS (z1 − q) (m)	0.0040	0.67	0.0047	0.0051	0.0041
RMS (z2 − z1) (m)	0.0107	0.6793	0.0113	0.0125	0.0112
J	5.3929	34950	4.3051	4.9304	5.3069