Toolbox for Modeling and Control of Magnetic Levitation System*

This paper further deals with recently published results that are applied to the modeling and control of an unstable nonlinear magnetic levitation system (MLS). A comprehensive program is presented to facilitate the modeling and control of MLS. This program uses the linearization approach for MLS modeling for the selected ball size as well as the selected ball position for the SISO or MISO system. Subsequently, the program makes it possible to design control in the state space using the poleplacement method, LQ control, robust control and possibly an MPC controller. The performance of closed-loop step responses corresponding to the designed controllers can be verified by simulation on a linearized and nonlinear model and also on a real laboratory MLS model. The individual output variable responses and control variable responses for different controller designs can be shown in one picture and compared. In addition, the program makes it possible to plot the position of the closed-loop poles for each designed controller. The presented program is suitable for educational purposes as well as for research in MLS control. It can be extended by other control approaches, e.g. already published robust control design results can be incorporated in the program.