Conference Proceeding

Robust nonlinear control of a magnetic levitation system via backstepping approach

Fac. of Comput. Eng. & Syst. Sci., Kyushu Inst. of Technol., Fukuoka
08/1998; DOI:10.1109/SICE.1998.742978 pp.1063 - 1066 In proceeding of: 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

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Keywords

backstepping manner
 
control system
 
experimental results
 
magnetic levitation system
 
nonlinear damping term
 
nonlinear system model
 
parameter uncertainties
 
PI controller
 
position error
 
robust nonlinear controller