The asymmetrical nature of the considered dual tube
damper and thus, the different build-up dynamic in compression
and rebound direction is considered in the gradient
@F
@i
˙xcw
. Thereby, every Ffb is multiplied by a variable
positive factor subject to the actual relative damper velocity
˙xcw and the already applied current i∗. In terms of R a
proportional, as well as a proportional-integral controller is
applied, where both are tuned by means of simulations as to
minimize the force tracking error Ffb.