Methods for trajectory generation in a magnetic-levitation system under constraints

In this work, we discuss two methods to generate trajectories for a magnetic-levitation (Maglev) system in the presence of constraints and compare each method´s performance. The methods are based on the notion of differential flatness and spline parametrisation of every signal. The first method uses the nonlinear model of the plant, which turns out to belong to the class of flat systems. The second method uses a linearised version of the plant model around an operating point. In every case, a continuous-time description is used. Experimental results on a real Maglev system, reported here, show that, in most scenarios, the nonlinear and linearised model produce almost similar, indistinguishable trajectories.