Robust nonlinear adaptive control for the magnetic levitation system

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.