1. GPIO-based robust control of magnetic levitation system subject external disturbance
- Author
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Qixun Lan, Yujie Cai, Yamei Liu, Huafeng Xu, Yuqian Yang, and Ya-nan Li
- Subjects
feedback ,nonlinear control systems ,pi control ,uncertain systems ,observers ,position control ,control system synthesis ,robust control ,tracking ,magnetic levitation ,gpio-based robust control ,magnetic levitation system subject external disturbance ,robust control problem ,nonlinear magnetic levitation system ,parameter uncertainties ,practical controller ,exact model information ,generalised-proportional-integral observer ,reference position tracking task ,control approach ,control method ,Engineering (General). Civil engineering (General) ,TA1-2040 - Abstract
This article considers the robust control problem of non-linear magnetic levitation system with parameter uncertainties and external disturbance. To obtain a simple and practical controller that does not depend on the exact model information, a generalised-proportional-integral observer is constructed to estimate the velocity and disturbance. Then, based on mild assumptions and the estimated values, an output feedback tracking controller is proposed such that the reference position tracking task could be realised. The obtained control approach is confirmed strictly by theoretical analysis. Finally, simulation results are provided to show the effectiveness of the proposed control method.
- Published
- 2019
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