Modeling and control design for a semi-active suspension system with magnetorheological rotary brake

In this paper we will first propose some methods for controlling a semi active suspension (SAS). The SAS with a magnetorheological rotary (MR) damper is highly nonlinear and is hard to control. To make the controller, the system is slightly modified and linearized. The linearized model is then used to make an optimal controller for the system. LQR and LQG controllers are implemented and tested in Simulink. In addition to this a test on the physical system is made.