Robust nonlinear adaptive control for the magnetic levitation system

Author

Satoh, Yasuyuki ; Nakamura, Hisakazu ; Katayama, Hitoshi ; Nishitani, Hirokazu

Author_Institution

Nara Inst. of Sci. & Technol., Nara

fYear

2007

fDate

27-29 June 2007

Firstpage

1

Lastpage

6

Abstract

In this paper, we develop a nonlinear robust controller for the magnetic levitation system based on Nakamura´s inverse optimal controller. First, we propose a controller which compensate for gravity by feedforward input and confirm its effectiveness by the experiment. How ever, the controller lacks robustness. Hence, we propose an improved controller via adaptive control technique to recover robustness. Finally, we confirm the effectiveness of this method by the experiment.

Keywords

adaptive control; compensation; control system synthesis; feedforward; magnetic levitation; nonlinear control systems; optimal control; robust control; Nakamura inverse optimal controller; feedforward input; gravity compensation; magnetic levitation system; robust nonlinear adaptive control; stabilization problem; Adaptive control; Control systems; Equations; Gravity; Lyapunov method; Magnetic levitation; Nonlinear control systems; Nonlinear systems; Optimal control; Robust control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control & Automation, 2007. MED '07. Mediterranean Conference on

Conference_Location

Athens

Print_ISBN

978-1-4244-1282-2

Electronic_ISBN

978-1-4244-1282-2

Type

conf

DOI

10.1109/MED.2007.4433866

Filename

4433866