The experimental results of force tracking control under The experimental results of force tracking control under The experimental results of force tracking control under The experimental results of force tracking control under The experimental results of

4.13 Force-displacement characteristics comparison of

46 polynomial model and experimental result

4.14 The structure of force tracking control of MR damper

47

4.15 The experimental results of force tracking control under

48 several sinusoidal amplitudes of the desired forces at the frequency of 0.7Hz: a 500N

4.16 The experimental results of force tracking control under

48 several sinusoidal amplitudes of the desired forces at the frequency of 0.7Hz: b 800N

4.17 The experimental results of force tracking control under

49 several sinusoidal amplitudes of the desired forces at the frequency of 0.7Hz: c 1100N

4.18 The experimental results of force tracking control under

49 several sinusoidal amplitudes of the desired forces at the frequency of 0.7Hz: d 1300N

4.19 The experimental results of force tracking control under

50 several sinusoidal amplitudes of the desired forces at the frequency of 1.08Hz: a 500N

4.20 The experimental results of force tracking control under

50 several sinusoidal amplitudes of the desired forces at the frequency of 1.08Hz: b 800N

4.21 The experimental results of force tracking control under

51 several sinusoidal amplitudes of the desired forces at the frequency of 1.08Hz: c 1100N

4.22 The experimental results of force tracking control under

51 several sinusoidal amplitudes of the desired forces at the frequency of 1.08Hz: d 1300N

4.23 The experimental results of force tracking control under

52 several sinusoidal amplitudes of the desired forces at the frequency of 1.5Hz: a 500N

4.24 The experimental results of force tracking control under

52 several sinusoidal amplitudes of the desired forces at the frequency of 1.5Hz: b 800N

4.25 The experimental results of force tracking control under

53 several sinusoidal amplitudes of the desired forces at the frequency of 1.5Hz: c 1100N

4.26 The experimental results of force tracking control under

53 several sinusoidal amplitudes of the desired forces at the frequency of 1.5Hz: d 1300N CHAPTER 1 INTRODUCTION

1.1 Background