Robust multitracking controllers for independent automotive subsystems

Procedures and criteria are presented for the design of robust multitracking controllers for hierarchical, multivariable systems (i.e. controllers that generate prescribed tracking behavior in systems with interactive subsystems and multiple inputs and outputs). The basic objectives are design procedures and criteria applying specifically to the independent four-wheel control of automotive suspension, traction, steering, and braking systems. An explicit example relating to automotive suspensions is presented.