Sliding mode controller design using PID sliding surface for half car suspension system

The aspiration for this paper is to analyze a new approach in nonlinear controller design for half car suspension system which is a multi input multi output (MIMO) system. The controller design for this system is based on sliding mode control (SMC) using proportional-integral-derivative (PID) sliding surface. This control scheme improves the ride comfort quality and road handling of the active suspension system for the applications on unpaved street with improvement in chattering effects in control effort. The basic modification made in this paper is in sliding surface designing which is based on PID and same is derived from the developed dynamics equations. By this technique steady state error reduces with improvement in transient response. Stability of the nonlinear system is mathematically proven by Lyapunov theorem. The simulation results of proposed controller shows that the better tracking performance is guaranteed compared to conventional SMC controller.