Robust Control for an Active Suspension System via Continuous Sliding-Mode Controllers

Luis Ovalle, Héctor Ríos, Hafiz Ahmed

Research output: Contribution to journalArticlepeer-review

17 Scopus citations


In this paper, a simple control methodology is proposed to stabilize the position of the sprung mass of the quarter car system. The simplicity of the structure of the proposal facilitates the application in real systems. Such methodology allows five different continuous sliding-mode controllers to be selected by means of two similar designs to mitigate the chattering effect. These robust controllers ensure the exponential stability of the sprung mass of a quarter car system in the presence of some class of non-vanishing disturbances. The closed-loop stability is guaranteed by means of a Lyapunov function approach and Input-to-State Stability properties. Some simulations and comparisons show the effectiveness of the proposed control schemes compared to a classic linear approach. Additionally, some experimental results show the effectiveness of the proposed controllers in the Quanser Active Suspension System.

Original languageEnglish
Article number101026
JournalEngineering Science and Technology, an International Journal
StatePublished - Apr 2022

Bibliographical note

Funding Information:
H. Ríos acknowledges the financial support from TecNM projects and from Catedras CONACYT CVU 270504 project 922. H. Ahmed is funded through the Sêr Cymru programme by Welsh European Funding Office (WEFO) under the European Regional Development Fund (ERDF).

Publisher Copyright:
© 2021 Karabuk University


  • Active suspension system
  • Robust control
  • Sliding-mode control


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