| Title |
Control of Electromagnetic Levitation System using ε-scaling Partial State Feedback Controller |
| Authors |
박규만(Park, Gyu-Man) ; 최호림(Choi, Ho-Lim) |
| DOI |
https://doi.org/10.5370/KIEE.2011.60.8.1572 |
| Keywords |
Electromagnetic levitation system ; { epsilon}-scaling ; Output feedback ; Input-output linearization |
| Abstract |
The electromagnetic levitation(EMS) system is one of the well-known nonlinear system because of its nonlinearity and several control techniques have been proposed. We propose an { epsilon}-scaling partial feedback controller for the ball position control of the EMS system. The key feature of our proposed controller is the use of the scaling factor { epsilon} which provides a function of controller gain tuning along with robustness. In this paper, we show the stability analysis of our proposed controller and the convergence analysis of the state observer in terms of { epsilon}-scaling factor. In addition, the experimental results show the validity of the proposed controller and improved control performance over the conventional PID controller. |