Sampled-data output feedback tracking of magnetic levitation system

In this paper, we present a solution to sampled-data output feedback tracking problem for the cases of known and unknown plant models of magnetic levitation system. For known plant model, magnetic disc of the plant tracks reference signal using Extended Kalman Filter (EKF) and Unscented Kalman filter (UKF). However, when plant model is unknown, EKF and UKF cannot perform. In such a case, state-space recursive least-squares (SSRLS) with constant velocity model is employed to track the reference signal. The controller is designed using feedback linearization. The simulation results show good tracking performance given by EKF and UKF estimator. Moreover, the plant output reasonably tracks the reference signal when SSRLS estimator is used for unknown model case.