The nonlinear control benchmark experiment

An overview is given of the motivation, model, and setup for the nonlinear control benchmark experiment. The two-input-one-output active magnetic bearing system possesses significant nonlinearity due to its electromagnetic actuators. A saturation on the control signal (voltage) is also present due to power supply limitations. This experiment examines the problem of disturbance rejection in an unstable nonlinear system. The control goal, motivated by the problem of energy storage flywheels, is to minimizing the actuator magnetic flux employed during this regulation