Adaptive Nonlinear Control for a Magnetic Levitation System

Nonlinear Control Design for a Magnetic Levitation System

This thesis presents the design of two magnetically levitated high precision positioning systems based on permanent magnet linear synchronous motors (PMLSMs). Magnetic levitation based on PMLSMs requires the motors to operate with a variable airgap length but previous research in the field has studied mainly motors fastened by bearings; therefore, this work first models a motor with free normal...

Explicit nonlinear predictive control for a magnetic levitation system

The paper presents a methodology for the construction of an explicit nonlinear control law via approximation of the nonlinear constrained finitetime optimal control (CFTOC). This is achieved through an approximate mapping of a general nonlinear system in a set of linear piecewise affine (PWA) systems. The key advantages of this methodology are two-fold: firstly, the construction of an analytic ...

Adaptive Robust Dynamic Surface Control for a Magnetic Levitation System

This paper considers the position tracking problem of a magnetic levitation system in the presence of uncertainties of physical parameters. The dynamic surface control (DSC) technique is modified and applied to the system under study, to overcome the problem of “explosion of terms” associated with the backstepping design procedure. Input-to-state stability (ISS) property is ensured by the robus...

Nonlinear Control of a Planar Magnetic Levitation System

In this paper, we derive the model of a three-magnet positioning device and design a nonlinear control that stabilizes it. The motivation of this work is to develop tools that may have practical significance to, e.g., photolithography and to create a challenging nonlinear control problem which can be used to test novel nonlinear control approaches. The nonlinear controller designed here transfo...

Adaptive Inverse Optimal Control of a Magnetic Levitation System