Suspension System

Presented by:
Enzo Oestanto
Mochammad Rizky Diprasetya
 Agenda

Suspension System
State Space Model
Stability, Observability, Controllability
Pole Placement
State Observer
Feedback Linearization with PID Controller
Suspension System
1 = 2
3 2
2 = 2
2(1 + 1 )2
1 + 1
3 = [3 + 2 2 3 + ]
1 + 1

M Mass of sphere
Magnetic Permeability
Flux linkage
K Constant
V Voltage
R Resistance
 State Space Model

1 = 0.10046
2 = 0
3 = 0.045455

1 0 1 0 1 0
2 = 42686.62 2 431.2 2 + 0
3 0 98.99 0.101 3 0.0004591

1 0
= 1 0 0 2 + 0
3 0
 Stability, Controllability, Observability

Stability
= 0

8.78 + 14.07
8.78 14.07
15.67

Controllability 0 0 0.197
= 2 = 0 0.197 0.376
Rank = 3 0.000459 0.0000463 19.60

Observability
1 0 0
= = 0 1 0
2 42686.62 2 431.20
Rank = 3
 Pole Placement Approach

1 = 20 + 20

2 = 20 20

3 = 50
 State Observer
1 = 101

2 = 102

3 = 103
 Feedback Linearization with PID

Kp = 6000
Ki = 2000
Kd = 4000
Reference Point = 0.5
 Feedback Linearization with PID

Kp = 6000
Ki = 2000
Kd = 4000
Reference Point = 0.5