4. \(H_{\infty } \)/LTI Robust Controller Design for Active Anti-roll Bar System

Based on the heavy vehicle model, including a single unit heavy vehicle model and a tractor semi-trailer built in the Chap. 2, the robust control method \(H_{\infty }\) for the LTI is used to design the controller for the active anti-roll bar system. First, the previous background studies in this approach are mentioned, and the theoretical basis of the control method is summarized. Then controller \(H_{\infty }\)/LTI is designed for active anti-roll bar system with rigid frames model considering the roll stability and amperage of the ESVH actuators. Meanwhile, the torque of the active system is the signal to be considered when building the controller for the tractor semi-trailer. The effect of this approach is analyzed in detail in the frequency and time domains.