Conference Paper

Robust nonlinear control of a magnetic levitation system via backstepping approach

Fac. of Comput. Eng. & Syst. Sci., Kyushu Inst. of Technol., Fukuoka
DOI: 10.1109/SICE.1998.742978 Conference: SICE '98. Proceedings of the 37th SICE Annual Conference. International Session Papers
Source: IEEE Xplore

ABSTRACT Proposes a robust nonlinear controller for the position tracking
problem of a magnetic levitation system, which is governed by a SISO
second-order nonlinear differential equation. The controller is designed
in a backstepping manner, based on the nonlinear system model in the
presence of parameter uncertainties. The effects of the parameter
uncertainties are reduced by a nonlinear damping term and the effects of
position error are removed by a PI controller. Input-to-state stability
of the control system is analyzed and experimental results are included
to show the excellent position tracking performance of the designed
control system