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给出了一种基于二自由度车辆模型的主动悬架系统的模型参考自适应控制（ＭＲＡＣ）策略，推导了主动悬架系统的ＭＲＡＣ实现理想模型跟踪所必须满足的Ｅｒｚｂｅｒｇｅｒ条件，应用Ｌｙａｐｕｎｏｖ稳定性理论导出了在悬架参数变化时的渐近稳定自适应控制规律，并对主动悬架系统进行了仿真计算。结果表明，在悬架系统参数有较大变化时，采用ＭＲＡＣ策略的控制效果较采用一般控制策略的主动悬架为好。
A model reference adaptive control (MRAC) strategy for active suspension system based on 2-DOF vehicle model is given. The Erzberger condition that must be satisfied for the MRAC of the active suspension system to achieve ideal model tracking is derived. The Lyapunov stability The asymptotic stability adaptive control law is derived theoretically when the parameters of suspension are changed, and the active suspension system is simulated. The results show that when the parameters of the suspension system have great changes, the control effect of using MRAC strategy is better than the active suspension adopting the general control strategy.