Adaptive Robust Nonlinear Control of a Voltage-Controlled Magnetic Levitation System

Robust Nonlinear Control of a Feedback Linearizable Voltage-Controlled Magnetic Levitation System

This paper considers the position tracking problem of a voltage-controlled magnetic levitation system. It is well known that the control problem is quite complicated and challenging due to inherent nonlinearities associated with the electromechanical dynamics. And feedback linearization approach via coordinate transformation is considered to be a useful candidate to tackle the control problem. ...

Robust Nonlinear Control of a Voltage-Controlled Magnetic Levitation System Using Disturbance Observer

The disturbance observer (DOB) based motion controllers have been widely accepted in the industrial side. However, the DOB based motion controllers are usually designed according to the linear control theory, even if the actual controlled plant is strongly nonlinear. Unfortunately, the rigorous stability of these controllers for nonlinear systems has not been well studied in the literature. Thi...

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