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It has been a challenge for the control engineers to cope with the problems of parametric uncertainties, sensor noise and disturbances arising in a magnetic levitation system. In this paper, the position tracking problem in Multi-Variable magnetic levitation system is solved using LMI technique in the presence of parametric uncertainties. Moreover disturbance rejection has also been achieved successfully. We will pose our problems in LMI using state-feedback H-infinity approach and try to find an efficient solution to multiple specifications arising during linearization. The formation of polytope of a Magnetic Levitation System to slot in parametric variations and its subsequent robust controller design and rig implementation is the new aspect of this work.