Robust position control of a magnetic levitation system via dynamic surface control technique
Yang, Z.-J.
Miyazaki, K.
Kanae, S.
Wada, K.
Dept. of Electr. & Electron. Syst. Eng., Kyushu Univ., Fukuoka, Japan;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb. 2004
Volume: 51,
Issue: 1
On page(s): 26- 34
ISSN: 0278-0046
INSPEC Accession Number: 7980549
Digital Object Identifier: 10.1109/TIE.2003.822095
Current Version Published: 2004-02-19
Abstract
This paper considers the position-tracking problem of a magnetic levitation system in the presence of modeling errors due to uncertainties of physical parameters. A robust nonlinear controller is designed to achieve excellent position-tracking performance. The recently developed dynamic surface control is modified and applied to the system under study, to over-come the problem of "explosion of terms" associated with the backstepping design procedure. Input-to-state stability of the control system is analyzed, and the advantages of the dynamic surface control technique over the conventional backstepping technique are verified through both theoretical and experimental studies.
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