主要对路面输入变化的估计时间和用以决定控制增益变化的系统输出信号的选择进行了研究。
Two main issues were investigated: a) the identification time for road input condition; b) the selection of reference signal on which the control gain are tuned.
该算法中在输入参考信号处直接增加一个比例增益环节，在信号发生器处串联一个超前的时滞环节，并且用一个二阶低通滤波器作为控制系统的补偿函数。
The repetitive control algorithm includes scalar gain of the reference input with a lead block in the signal generator. A second-order low-pass filter provides compensation in the controller.
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