Adaptive nonlinear control of repulsive Maglev suspension systems

Magnetic levitation systems have recently become the focus of many research interests not only because they are most suitable for high precision engineering applications but also due to the fact that they represent a difficult challenge to control engineers. As a result, most previous studies have focused on the control stabilization problem. In this paper, we address the issue of performance with respect to uncertainty in order to achieve a desired rigidity. The proposed controller is an adaptive backstepping controller. The adaptive backstepping controller provides system stability under model uncertainty, and achieves the desired servo performance. The experiments show that the proposed control achieves a superior behavior than other control