Abstract: To decouple the couple action of lateral and vertical motion in the nonlinear model of a full car implemented with the electrical power steering system(EPS) and the active suspension system(ASS), and reduce the disturbance of road roughness, a decoupling controller is designed according to nonlinear decoupling control theory. Based on the above integrated system, a propotion and differential(PD) loop is added to this controller to decrease the response time, tracking error and over-shooting. The simulation results show that decoupling control with PD loop can work better than single decoupling controller; The integrated system with the decouple strategy has better performance than single EPS or ASS controller. Mean-while, to verify the correctness of theoretic analysis and simula-tion, road driving tests with real car implemented ASS+EPS integrated system is carried out. The test results are consistent with the control theory and presented algorithm, and the effec-tiveness is proved.

Key words: Coupling, Decoupling control, Integrated system, Nonlinear system