Design of Two Optimized Controllers of a Hydraulic Actuator Semi-Active Suspension: A Comparison Study


  • S. Babesse Department of Electrical Engineering, Ferhat Abbas University Setif I, Setif, Algeria
Volume: 9 | Issue: 4 | Pages: 4561-4565 | August 2019 |


A parallel optimization of Proportional, Integral and Derivative (PID) controller and a sixth order phase lead-lag compensator of a high order naturally oscillatory hydraulic actuator are proposed in this paper. The PID controller parameters (proportional, integral and derivative) and the compensator parameters (gain, poles and zeros) are obtained by minimizing the Integral of Time Absolute Error (ITAE) criterion. The proposed methods are demonstrated through a realistic numerical synthesis example of a hydraulic actuator dedicated to a semi-active suspension modeled by an eighth order transfer function. A simulation comparison is investigated for both controllers to compare their performances.


parallel PID, phase lead lag compensator, hydraulic actuator, ITAE


Download data is not yet available.


A. Firoozshahi, “Innovative Tank Management System based on DCS” , IEEE, ELMAR 2010, Zadar, Croatia, September 15-17, 2010

C. C. Yu, Autotuning of PID Controllers: Relay Feedback Approach, Springer-Verlag, 1999

K. J. Astrom, T. Hagglund, Automatic Tuning of PID Controllers, Instrument Society of America, 1988

S. Ozana, T. Docekal, “PID controller design based on global optimization technique with additional constraints”, Journal of Electrical Engineering, Vol. 67, No. 3, pp. 160-168, 2016 DOI:

M. Milosawlewitsch-Aliaga, R. A. Osornio‐Rios, R. J. Romero-Troncoso, “Model‐Based Iterative Feedback Tuning for Industrial PID Controllers”, Journal of Scientific and Industrial Research, Vol. 69, No. 12, pp. 930‐936, 2010

D. J. M. Sampson, P. G. McKevitt, D.Cebon, “The development of an active roll control system for heavy vehicles”, 16th IAVSD Symposium on the Dynamics of Vehicles on Roads and Tracks, Pretoria, South Africa, 1999 DOI:

A. J. P. Miege, Development of Active Anti-Roll Control for Heavy Vehicles, First Year Report Submitted to the University of Cambridge, University of Cambridge, 2000

S. Babesse, D. Ameddah, F. Inel, “Comparison between RST and PID Controllers Performance of a Reduced Order Model and the Original Model of a Hydraulic Actuator dedicated to a Semi-active Suspension”, World Journal of Engineering, Vol. 13, No. 1, pp. 66-71, 2016 DOI:

S. Babesse, D. Ameddah, “Neuronal active anti-roll control of a single unit heavy vhicle associated with RST control of the hydraulic actuator”, International Journal of Heavy Vehicle Systems, Vol. 22, No. 3, pp. 236-254, 2015 DOI:

R. A ,Waltz, J. L. Morales, J. Nocedal, D. Orban, “An interior algorithm for nonlinear optimization that combines line search and trust region steps”, Mathematical Programming, Vol. 107, No. 3, pp. 391–408, 2006 DOI:

T. K. Kiong, W. Qing-Guo, H. C. Chieh, T. J. Hagglund, Advances in PID Control, Springer Verlag, 2000 DOI:


How to Cite

S. Babesse, “Design of Two Optimized Controllers of a Hydraulic Actuator Semi-Active Suspension: A Comparison Study”, Eng. Technol. Appl. Sci. Res., vol. 9, no. 4, pp. 4561–4565, Aug. 2019.


Abstract Views: 361
PDF Downloads: 258

Metrics Information
Bookmark and Share