A Passivity Based Decentralized Control Design Methodology With Application to Vehicle Dynamics Control

Abstract

A basic problem in the design of control systems is the lack of simple effective methods for designing decentralized control systems that are robust with respect to certain types of structural uncertainties. Here, we present one such design methodology that is based upon the Kalman–Yakubovich–Popov Lemma. Advantages of this approach include the ease with which output feedback controllers can be designed, and the fact that the design methodology and uncertainties are expressed using classical frequency domain notions. We use our design technique to obtain an integrated chassis controller for application to automotive dynamics.