Control of CE152 Magnetic Levitation: Linearly Changing Control Signal

The paper shows that applying a uniformed control design methodology enables to modify the control structure designed to maintain zero permanent control error for the control signal steps to a control structure designed to maintain zero permanent control error even for a linearly varying control signal. The different design solutions have the same basis and essentially the same result. It is also shown that the synthesis will be radically simplified if we consider all input variables of the control structure to be a disturbance. This statement immediately enables to consider the controller as a block tracking the control (analogy to a disturbance observer). Zero permanent control error (for any disturbance signal) is achieved because the control structure behaves as a corresponding derivative.