“…This is applicable in a system in which passenger-compartment vertical accelerations are limited to less than 0.05 g and in which vehicle unsprung mass (i.e., mass associated with the primary suspension) inertia forces are low compared to vehicle weight. Thus, the influence of vehicle heave acceleration, which is of particular interest because it is used as a measure of passenger comfort, can be determined in this simplified model (Cai et al 1992a(Cai et al , 1992cRichardson and Wormley 1974).…”