Abstract
This paper proposes two control techniques to provide robust tracking for magnetic levitation systems (MLS): model-free control (MFC) and robust proportional-integral-derivative (PID) control. The proposed MFC does not require a mathematical model. The MFC uses a stabilising local PID controller and a continuous saturation function of a sliding surface. The local stabilising control is achieved through a trial-and-error method, while the other parameters in the sliding surface are tuned to achieve the required tracking and robustness objectives. For robust PID controller, a linear model of MLS is derived. The robustness, tracking, and transient problems are formulated using the ℋ∞ theory and solved using the genetic algorithm. Experimental verifications are conducted to demonstrate the effectiveness of the proposed controllers.
Original language | English |
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Pages (from-to) | 3956-3966 |
Number of pages | 11 |
Journal | International Journal of Control, Automation and Systems |
Volume | 19 |
Issue number | 12 |
DOIs | |
Publication status | Published - Dec 2021 |
Keywords
- magnetic levitation system
- model free control
- robust PID control
- ℋ control
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications