| 101B3 |
|---|
| Robust Nonlinear Control of a Magnetic Levitation System via DSC Technique |
| AUTHORS |
| Kouichi Miyazaki, Zi-Jiang Yang, Chun-Zhi Jin, Kiyoshi Wada (Kyushu University) |
| ABSTRACT |
| During the last decade, the backstepping techniques have attracted increasing attention in the fields of nonlinear or adaptive control, since the design of the feedback control strategy can be made systematic. However the use of backstepping techniques is problematic because of ``explosion of terms'' (the number of terms in the equations dramatically increases) that stems from repeated differentiations of virtual input signals. The dynamic surface control (DSC) technique has been recently developed to overcome the above problem which avoids strict differentiations using a first-order low-pass filter at each step of backstepping design. In the literature, the DSC technique is usually applied to systems in strict-feedback form. In this study, the DSC technique is modified and applied to a popular voltage-controlled magnetic levitation system whose dynamical equations are in a more general form. Nonlinear damping terms are introduced to ensure the robustness of the controller in the presence of modeling errors due to parametric uncertainties. Input-to-state stable (ISS) property of the control system is analyzed, and experiment results are included to show the excellent position tracking performance of the designed control system. |
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Annual Conference 2002