Title :
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
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;
Conference_Titel :
SICE '98. Proceedings of the 37th SICE Annual Conference. International Session Papers
Conference_Location :
Chiba
DOI :
10.1109/SICE.1998.742978
