Model predictive control solution for magnetic levitation systems

The paper presents aspects related to the design and implementation of a cascade control solution (CCS), which is tested on laboratory equipment meant for the position control of a ferromagnetic sphere in a Magnetic Levitation System with Two Electromagnets (MLS2EM). The nonlinear mathematical model (MM) of the MLS2EM is derived on the basis of the first principles equations with experimentally identified parameters. This MM is next linearized at two operating points. The CCS includes a state feedback controller in the inner loop and a model predictive controller in the outer loop. Experimental results are given in order to validate the proposed CCS and to illustrate the performance of the position control system expressed as very good dynamics and zero steady-state control error.