Frequency-weighted vehicle suspension control

A procedure for synthesizing a state-feedback gain matrix for a vehicle suspension system including active suspension components such as continuously variable semi-active dampers is disclosed. Sensors and/or estimation schemes provide feedback to the controller concerning the vehicle states. A set of frequency-weighted metrics are first quantified and used as part of a full car 7 degree of freedom vehicle model to construct a constrained multi-objective optimization problem. Using commercially available software, a mixed H2/H∞ problem is iteratively solved to minimize a set of body control objectives subject to a set of physical control and wheel control related constraints to obtain data, preferably in the form of a plot of the trade-off curve between optimum wheel control and optimum body control. An initial design point is selected from the trade-off curve to calculate a state-feedback gain matrix that provides a reasonable balance between body and wheel control objectives. Additional points may be selected from the trade-off curve to iteratively provide an optimal solution.