The hydraulic active suspension control design based on quarter car model considering the dynamics of the hydraulic actuator was addressed, which uses a combination of optimal control and nonlinear backstepping techniques.

• 建立了充分考虑液压装置动力学特性的1/4车辆非线性主动悬挂模型,并提出线性二次型指标下最优控制与非线性Backstepping技术相结合的内外环控制设计策略。