The Robust PI control of A Magnetically Levitated Planar Motor with Output Constrains

The magnetically levitated planar motor is utilized in precision industries, such as chip manufacturing, which encounters challenges in designing a high-performance motion controller. This paper proposes the robust PI controller to ensure the tracking error to a finite set within a specified time, even under conditions of uncertain mathematical models, actuator faults and output constraints. Moreover, the proposed approach utilizes a simple and computationally efficient controller structure, without complex adaptive strategies, observers and filters. Simulation results provide further support for the established theoretical findings.