Title :
Robust stabilization of a magnetic levitation system
Author :
Shibukawa, Kazuo ; Tsubakiji, Tadashi ; Kimura, Hidenori
Author_Institution :
Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Suita, Japan
Abstract :
The method of robust stabilization based on H∞ control is applied to the control of a simple magnetic levitation system on the laboratory scale. The system is highly nonlinear due to the magnetic force which is inversely proportional to the gap width. Also, it contains significant uncertainty of the coil characteristics caused by the temperature variation. To take into account the robustness against the error in linearizing the magnetic force and various kinds of uncertainty due to temperature variation, a robust stabilization method, which has been successfully applied to the control of a flexible beam, is used to design a robust control. The effectiveness of the method was demonstrated in experiments
Keywords :
control system synthesis; laboratory apparatus and techniques; linearisation techniques; magnetic levitation; nonlinear control systems; optimal control; stability; H∞ control; control design; highly nonlinear system; laboratory system; linearization error; magnetic levitation system; robust stabilization; temperature-related coil characteristics uncertainty; Coils; Control systems; Error correction; Laboratories; Magnetic forces; Magnetic levitation; Robust control; Robustness; Temperature; Uncertainty;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261609
