A research on internal model control for vehicle yaw stability

An internal model control method based on inverse system to improve vehicle stability was proposed. The inverse model approximated by neural network was cascaded with the original system in the method. Based on the idea of the inverse system method, the obtained system was controlled by the method via feedback linearization. A simulation is performed with it during two different conditions: step input and sinusoidal input, the results showed that the transient and steady response based on presented method does not depend on the accurate mathematical model of the system, and the presented control way can improve vehicle's yaw stability and control side slip angle and yaw rate effectively, and achieve steady transient nature, lighten the driver's burden.