Interactions analysis in the maglev bogie with decentralized controllers using an effective relative gain array measure

In this paper, the interactions existing in a maglev bogie is studied using an effective relative gain array (ERGA). The linearized model of the bogie is established, and four decentralized SISO controllers are used to stabilize the bogie. The value of the ERGA has been calculated using a designed bogie and controller parameters. The results reveal that the interactions exist in the bogie, and the parameters of the bogie and the decentralized SISO controllers can keep the degree of interactions of the bogie in an acceptable low level. Furthermore, experiments on a real bogie have been undertaken, and the results validate the reliability of the ERGA approach.