Optimal control with partial preview of disturbances and rate penalties and its application to vehicle suspension

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Abstract
The theoretical optimal control problem posed by the concept of partial preview of disturbance inputs in the presence of generalized rate penalties and measurements is solved. The properties, computational requirements and rcalizability of the optimal controller and state estimator are discussed and the average behaviour of the optimally controlled system determined. By way of example, the theory is applied to suspension of the British tracked hovercraft high-speed ground transport vehicle. A tenfold reduction in passenger acceleration levels is demonstrated. It is shown that the stiffness parameter of the track or guideway beams can be halved to produce a saving of £18 million on track costs for a typical 800 km system.

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