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Robust adaptive control of nonlinear systems with convex input constraints: Case study on the magnetic levitation system

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5 Author(s)
Satoh, Y. ; Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara, Japan ; Nakamura, H. ; Nakamura, N. ; Katayama, H.
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In this paper, we propose a control Lyapunov function (CLF)-based robust nonlinear adaptive controller for the magnetic levitation system. The proposed controller consists of a pre-feedback compensator with an adaptive control mechanism and a robust stabilizing controller. By using this controller, a gain margin for closed loop system is guaranteed. The effectiveness of the proposed controller is confirmed by experiments.

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18-21 Aug. 2009