Flatness Based Control of a Suspension System: A GPI Observer Approach

H. Sira-Ramírez, A. Matamoros-Sánchez, R. M. Goodall

Research output: Contribution to journalConference articlepeer-review

5 Citations (Scopus)


We propose a robust, flatness based, approach for active regulation of a railway vehicle suspension system externally perturbed by track irregularities. A simplified perturbed input-to-flat-output model for the vehicle model, which is differentially flat, is established. The observer-based control scheme uses the simplified model considering all the additive state-dependent terms and the influence of external disturbance inputs, as a single lumped unknown but bounded disturbance signal. The proposed GPI observer simultaneously estimates the required flat output associated phase variables allowing to complete the linear feedback loop via on-line disturbance cancellation. Simulations reveal the effectiveness of the approach.

Original languageEnglish
Pages (from-to)11103-11108
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Issue number1
Publication statusPublished - 2011
Externally publishedYes
Event18th World Congress: The International Federation of Automatic Control - Milano, Italy
Duration: 28 Aug 20112 Sep 2011
Conference number: 18


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