Model Predictive Control of Double-Stacked Suspension

Model Predictive Control (MPC) algorithm for mitigating road disturbances with a double-stacked suspension.

This code applies MPC to a double stacked suspension design without using the pre-defined MATLAB functions. The double-stacked design was inspired by work done by Pratt and Miller Engineering and simply combines an active and passive suspension in series. Three road profiles are provided: a step and 2 multimode disturbances. Each road profile has optimized weights that are tuned for that specific disturbance to minimize driver absorbed power. The controller has preview information of 1 second that allows it to measure the disturbance ahead of time. Finally, a Kalman filter is applied to mitigate process noise and measurement noise in both the states and the disturbance preview information.