Selective model inversion and adaptive disturbance observer for rejection of time-varying vibrations on an active suspension

This paper presents an adaptive control scheme for identifying and rejecting unknown and/or time-varying narrow-band vibrations. We discuss an idea of selective model inversion (SMI) for a (possibly nonminimum phase) plant dynamics at multiple narrow frequency regions, so that vibrations can be estimated and canceled by feedback. By taking advantage of the structure of the disturbance model, we can reduce the adaptation to identify the minimum amount of parameters, achieve accurate parameter estimation under noisy environments, and flexibly reject the narrow-band disturbances with clear tuning intuitions. Evaluation of the proposed algorithm is performed via simulation and experiments on a benchmark system for active vibration control.