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利用Ｈ∞方法设计双线性系统的控制器并将其应用于半主动悬架控制中，目前在半主动悬架控制中研究者多采用基于天棚阻尼原理的控制方法，基于此方法所得到的控制律是不连续的，本文通过频域整形以及抗干扰设计等手段给出半主动悬架控制器设计的新途径，所得控制律是连续的。由于Ｈ∞设计方法的固有特点，Ｈ∞控制与天棚阻尼方法有着明显的差别。本文方法可推广到某些非线性系统的控制器设计问题中，可考虑参数摄动的影响，因而具有一般性。模拟分析表明Ｈ∞方法的设计结果能有效地控制悬架的振动，与天棚阻尼方法相比，控制信号有很大区别。
The controller of bilinear system is designed by H∞ method and applied to the semi-active suspension control. At present, researchers mostly use the control method based on the ceiling damping principle. Based on this method, The control law is discontinuous. In this paper, a new approach to the design of semi-active suspension controller is given by means of frequency domain shaping and anti-jamming design. The obtained control law is continuous. Due to the inherent characteristics of the H∞ design method, there is a clear difference between the H∞ control and the ceiling damping method. The method in this paper can be generalized to the controller design problems of some nonlinear systems and the influence of parameter perturbation can be considered. Simulation results show that the design results of H∞ method can effectively control the vibration of the suspension. Compared with the ceiling damping method, the control signals are greatly different.