Real time implementation of feedback linearizing controllers for magnetic levitation system

In this paper, different tracking control schemes are studied for magnetic levitation system. An input-output linearization feedback controller is designed by incorporating integral gain in feedback path that makes the error more symmetrical and provides very good tracking performance. The previously proposed input-output linearization feedback controller with state feedback gains only, generates non symmetrical error when implemented on the real time system. Pole placement technique is used to calculate the feedback gains by linearizing nonlinear system. A sliding mode controller and PID controller are also implemented for comparison. Control schemes are simulated and satisfactory results are achieved. Finally, a real time implementation of the controllers is carried out for experimental verification and comparison of these designed schemes.