Robust position control of a magnetic levitation system via dynamic surface control technique

• Published in: IEEE transactions on industrial electronics (1982) Vol. 51; no. 1; pp. 26 - 34
• Main Authors: Yang, Z.-J., Miyazaki, K., Kanae, S., Wada, K.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01-02-2004; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Backstepping; Control surfaces; Control system analysis; Control systems; Design engineering; Dynamic tests; Dynamical systems; Explosions; Magnetic levitation; Nonlinear dynamical systems; Nonlinear dynamics; Position control; Robust control; Stability analysis; Uncertainty
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2003.822095

This paper considers the position-tracking problem of a magnetic levitation system in the presence of modeling errors due to uncertainties of physical parameters. A robust nonlinear controller is designed to achieve excellent position-tracking performance. The recently developed dynamic surface control is modified and applied to the system under study, to over-come the problem of "explosion of terms" associated with the backstepping design procedure. Input-to-state stability of the control system is analyzed, and the advantages of the dynamic surface control technique over the conventional backstepping technique are verified through both theoretical and experimental studies.