Research Article Disturbance Rejection in a One-Half Semiactive Vehicle Suspension by means of a Fuzzy-H ‘ Controller L.C.F´ elix-Herr´ an , 1 Driss Mehdi , 2 Jos´ edeJes´ us Rodr´ ıguez-Ortiz, 3 Victor H. Benitez , 4 Ricardo A. Ramirez-Mendoza , 3 and Rogelio Soto 3 1 Tecnologico de Monterrey, School of Engineering and Sciences, Blvd. Enrique Maz´ on L´ opez 965, Hermosillo 83000, Sonora, Mexico 2 LIAS-ENSIP, Universit´ e de Poitiers, Bˆ at. B25, 2 Rue Pierre Brousse, Poitiers Cedex 86022, France 3 Tecnologico de Monterrey, School of Engineering and Sciences, Ave. Eugenio Garza Sada 2501, Monterrey 64849, Nuevo Leon, Mexico 4 Universidad de Sonora, Departamento de Ingenier´ ıa Industrial, Blvr. Luis Encinas y Rosales S/N, C.P. 83000, Col. Centro, Hermosillo, Sonora, Mexico Correspondence should be addressed to L. C. F´ elix-Herr´ an; lcfelix@tec.mx Received 28 February 2019; Revised 15 June 2019; Accepted 1 July 2019; Published 31 July 2019 Academic Editor: Evgeny Petrov Copyright © 2019 L. C. F´ elix-Herr´ an et al. is is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. A fuzzy-H ∞ control, improved with weighting functions, has been designed and applied to a novel model of a one-half semiactive lateral vehicle (OHSLV) suspension. e herein contribution resides in the development and computation of an H ∞ controller with parallel distributed compensation (PDC) designed from a highly nonlinear system modelled via the Takagi–Sugeno (T-S) fuzzy approach. A fuzzy-H ∞ controller is synthesized for an OHSLV T-S fuzzy model of a suspension with two magneto- rheological (MR) dampers including actuators’ nonlinear dynamics. e realism of results has been improved by considering the MR damper’s behaviours (viscoplasticity, hysteresis, and saturation) and the handling of the phase angle of the sinusoidal disturbance, not included in other reported work. Time-domain tests remark transient time achievements, whereas precise performance criterion indices in the frequency domain are employed to assess the generated outcomes. e proposed solution complies with all performance criteria compared with a benchmark passive average suspension that fails in satisfying most of the performance criteria. 1. Introduction Ground vehicle suspension systems provide a certain level of passenger comfort and vehicle stability by covering a set of basic functions such as supporting vehicle’s weight, keeping tires in contact with the road, holding an optimal height of the vehicle, and isolating passengers against vibrations from road’s disturbances, among others [1]. From the variety of available suspensions, semiactive solutions have proven their contribution to an acceptable level of simultaneous comfort and stability. Filled with electrorheological (ER) or mag- netorheological (MR) fluids [2, 3], they can modify their viscosity from liquid to semisolid in less than ten milli- seconds [4]. Due to the advantages with respect to ER dampers, this research employs MR dampers for the sus- pension [5, 6]. Considering that MR dampers have nonlinear phe- nomena such as saturation, hysteresis, and dynamics of a fluid going through an orifice [7], obtaining an accurate modelling becomes a critical task when applying them for vehicle suspensions. One of the most employed MR damper nonlinear representations is the Bouc–Wen model, which is handled in this research [4]. e baseline study in vehicle suspensions is the passive one-half vehicle suspension. e analysis on ride comfort and vehicle stability can be obtained through a half-vehicle model, where roll or pitch dynamics are added to the vertical motion [8]. If the focus of the study is to analyse the effect of Hindawi Shock and Vibration Volume 2019, Article ID 4532635, 14 pages https://doi.org/10.1155/2019/4532635