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This paper proposes a comprehensive mixed-sensitivitycontrol design for an experimental magnetic levitation (Maglev) system. The control strategy can be seen as an extension of theloop-shaping procedure for discrete-time linear parameter-varying (LPV) systems using linear-fractional representation (LFR). By making use of an efficient quadratic approach given in the form of linear matrix inequalities (LMIs), a functional and computationally attractive gain-scheduling technique is achieved. Despite the rigorous mathematical considerations to obtain thecontroller, the guidelines to its practical implementation are presented as a straightforward method using LMIs. A detailed modeling of the Maglev plant manufactured by Quanseris carried out to illustrate the procedure, including a description of the nonlinear equations embedding process to obtain a discretized  quasi -LPV (qLPV) model. Experimental results demonstrate the effectiveness of the proposed control design.

international journal of general systems

qLPV modeling and mixed-sensitivity                                                                                                    L                                                     2                                                              control for a magnetic levitation system