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Adaptive robust nonlinear control of a magnetic levitation system via DSC technique
Author(s) -
Miyazaki Kouichi,
Yang ZiJiang,
Kanae Shunshoku,
Wada Kiyoshi
Publication year - 2004
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.20092
Subject(s) - backstepping , control theory (sociology) , nonlinear system , levitation , robust control , position (finance) , magnetic levitation , adaptive control , control engineering , tracking (education) , engineering , computer science , control system , control (management) , magnet , physics , artificial intelligence , mechanical engineering , electrical engineering , psychology , pedagogy , finance , quantum mechanics , economics
This paper considers the position tracking problem of a popular magnetic levitation system in the presence of modeling errors due to uncertainties of physical parameters. The recently developed dynamic surface control (DSC) technique is modified and applied to the system under study, to overcome the problem of “explosion of terms” associated with the backstepping design procedure. The input‐to‐state stability (ISS) property is ensured by the robust nonlinear damping terms, and the ultimate control error bounds are made sufficiently small by the adaptive laws. Experimental results are included to show the excellent position tracking performance of the designed control system. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 149(4): 42–51, 2004; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20092