By Topic

Real time implementation of a robust H controller for a 2-DOF magnetic micro-levitation positioner

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Mohamed, A.M. ; Dept. of Electr. Eng., Assiut Univ., Egypt ; Busch-Vishniac, I.

This paper presents a robust H controller for a two degree-of-freedom magnetic micro-levitation positioner and its real time experimental implementation. The experimental device described is designed for use in semiconductor manufacturing and consists of two U-shaped electromagnets and an actuator. First, we describe the system dynamics in state space form. Second, the system which is unstable in nature is stabilized using the H synthesis. The H control design problem is described and formulated in the standard form with emphasis on the selection of weighting transfer functions that reflect robustness and performance goals. The interactive computing environment MATLAB is used to calculate the controller. Third, the controller is implemented digitally using a digital signal processor with 16 bit A/D and 12 bit D/A converters. Finally, some simulation and experimental results are presented. The results obtained show that robust stability against model uncertainties is achieved and the performance goals are satisfied.

Published in:

American Control Conference, 1994  (Volume:3 )

Date of Conference:

29 June-1 July 1994