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

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.