Control of a magnetic levitation system via output feedback based two DOF control with an adaptive predictive feedforward input

This paper deals with control system design problem of a magnetic levitation system and a two degree of freedom output feedback control based on augmented system´s ASPRness with a parallel feedforward compensator (PFC) is considered in order to control the magnetic levitation system. It is well known that one can design a stable output feedback control system with a high gain feedback if the considered controlled system satisfies almost strictly positive real (ASPR) conditions. However, in most cases, one has to design an ASPR augmented system with a PFC. It will be shown that by introducing an adaptive predictive control as a feedforward input, one can attain a better control performance for actual output in the augmented control system with the PFC. The application of the method to practical control of magnetic levitation system shows the usefulness of the proposed method to a fast moving mechanical system.