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In this paper we address the problem of sensorless control of the 1-DOFmagnetic levitation system. Assuming that only the current and the voltage aremeasurable, we design an adaptive state observer using the technique of signalinjection. Our main contribution is to propose a new filter to identify thevirtual output generated by the signal injection. It is shown that this filter,designed using the dynamic regressor extension and mixing estimator,outperforms the classical one. Two additional features of the proposed observerare that (i) it does not require the knowledge of the electrical resistance,which is also estimated on-line and (ii) exponential convergence to a tunableresidual set is guaranteed without excitation assumptions. The observer is thenapplied, in a certainty equivalent way, to a full state-feedback control law toobtain the sensorless controller, whose performance is assessed via simulationsand experiments.

An Adaptive Observer for Sensorless Control of the Levitated Ball Using Signal Injection