Adaptive Output Feedback Control Design for Exponentially Passive Systems with a PFC and Its Application to a Magnetic Levitation System

Author

Mizumoto, Ikuro ; Ohishi, Shinya ; Iwai, Zenta

Author_Institution

Kumamoto Univ., Kumamoto

fYear

2007

fDate

5-7 Sept. 2007

Firstpage

432

Lastpage

432

Abstract

This paper deals with a design problem of an adaptive output feedback tracking control for systems with a parallel feedforward compensator (PFC) introduced in order to realize the output feedback exponential passive (OFEP) augmented control system. It is well known that one can easily design an adaptive output feedback control system for nonlinear systems satisfying the OFEP conditions. We adopt introduceing a PFC to make a non-OFEP nonlinear system OFEP and propose an adaptive control system design scheme which improves the control performance of the practical control system without the PFC. The effectiveness of the proposed method will be confirmed through experiments of a magnetic levitation system.

Keywords

adaptive control; compensation; control systems; feedback; feedforward; magnetic levitation; mechanical control equipment; nonlinear systems; adaptive output feedback tracking control system; augmented control system; exponentially passive system; magnetic levitation system; nonlinear system; output feedback exponential passive system; parallel feedforward compensator; Adaptive control; Backstepping; Control design; Control systems; Intelligent systems; Magnetic levitation; Nonlinear control systems; Nonlinear systems; Output feedback; Programmable control;

fLanguage

English

Publisher

ieee

Conference_Titel

Innovative Computing, Information and Control, 2007. ICICIC '07. Second International Conference on

Conference_Location

Kumamoto

Print_ISBN

0-7695-2882-1

Type

conf

DOI

10.1109/ICICIC.2007.115

Filename

4428074