A novel passivity-based controller for an active magnetic bearing benchmark experiment

To preserve the energy interpretation of passivity based control (PBC) in electromechanical and mass balance applications, in contrast to mechanical systems which require shaping of the potential and kinetic energy or the total mass, we have introduced in a series of recent papers a new so-called interconnection and damping assignment (IDA) PBC. The present paper is concerned with the application of IDA-PBC to the problem of stabilization of the magnetic levitation benchmark experiment. We show that, under some reasonable simplifying modeling assumptions, IDA-PBC yields a smooth stabilizing controller. Simulation results with the full model illustrate that commissioning the controller to achieve good performance is relatively straightforward