Comparative Study of Control Structures for Maglev Systems

This paper presents the design of three control structures that control the ferromagnetic sphere position of a magnetic levitation (Maglev) system. The control structures are a Tensor Product-based model transformation control structure, an anti-windup Proportional-Integral-Derivative Gain-Scheduling control structure (aw-PID-GS-CS) and the combination of these two structures (CCS). Some real time experiments and a comparative study are given for two control structures: aw-PID-GS-CS and CCS.