Hierarchical Triple-Maglev Dual-Rate Control Over a Profibus-DP Network

This paper addresses a networked control system application on an unstable triple-magnetic-levitation setup. A hierarchical dual-rate control using a Profibus-decentralized peripherals network has been used to stabilize a triangular platform composed of three maglevs. The difficulty in control is increased by time-varying network-induced delays. To solve this issue, a local decentralized H∞ control action is complemented by means of a lower rate output feedback controller on the remote side. Experimental results show good stabilization and reference position accuracy under disturbances.