Robust nonlinear control of a magnetic levitation system via backstepping approach

Author

Yang, Zi-Jiang ; Tateishi, Michitaka

Author_Institution

Fac. of Comput. Eng. & Syst. Sci., Kyushu Inst. of Technol., Fukuoka, Japan

fYear

1998

fDate

29-31 Jul 1998

Firstpage

1063

Lastpage

1066

Abstract

Proposes a robust nonlinear controller for the position tracking problem of a magnetic levitation system, which is governed by a SISO second-order nonlinear differential equation. The controller is designed in a backstepping manner, based on the nonlinear system model in the presence of parameter uncertainties. The effects of the parameter uncertainties are reduced by a nonlinear damping term and the effects of position error are removed by a PI controller. Input-to-state stability of the control system is analyzed and experimental results are included to show the excellent position tracking performance of the designed control system

Keywords

control system analysis; control system synthesis; damping; magnetic levitation; nonlinear control systems; nonlinear differential equations; position control; robust control; PI controller; SISO second-order nonlinear differential equation; backstepping approach; input-to-state stability; magnetic levitation system; nonlinear damping; parameter uncertainties; position tracking performance; position tracking problem; robust nonlinear control; Backstepping; Control systems; Damping; Differential equations; Error correction; Magnetic levitation; Nonlinear control systems; Nonlinear systems; Robust control; Uncertain systems;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE '98. Proceedings of the 37th SICE Annual Conference. International Session Papers

Conference_Location

Chiba

Type

conf

DOI

10.1109/SICE.1998.742978

Filename

742978