Robust position control of a magnetic levitation system via dynamic surface control technique
Yang, Z.-J.; Miyazaki, K.; Kanae, S.; Wada, K.
Industrial Electronics, IEEE Transactions on
Volume 51, Issue 1, Feb. 2004 Page(s): 26 - 34
Digital Object Identifier   10.1109/TIE.2003.822095
Summary: This paper considers the position-tracking problem of a magnetic levitation system in the presence of modeling errors due to uncertainties of physical parameters. A robust nonlinear controller is designed to achieve excellent position-tracking performance. The recently developed dynamic surface control is modified and applied to the system under study, to over-come the problem of "explosion of terms" associated with the backstepping design procedure. Input-to-state stability of the control system is analyzed, and the advantages of the dynamic surface control technique over the conventional backstepping technique are verified through both theoretical and experimental studies.

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