Balanced robust regulation of a magnetic levitation system

In this brief, we consider the problem of disturbance suppression for a magnetic levitation system in presence of physical uncertainties. The problem is cast as a nonlinear regulation problem in presence of input constraint and an internal model-based regulator is designed. A control law which does not rely upon complementarity or relaxed complementarity conditions is proposed and compared, from an energetic viewpoint, with complementary control strategies usually presented in literature. Simulation results are presented to confirm the effectiveness of the design.