Application of MRAC techniques to the PID Controller for nonlinear Magnetic Levitation system using Kalman filter

摘要

In this paper, an approach to model reference adaptive control based on pid Controller is proposed and analyzed for a magnetic levitation system class of nonlinear dynamical systems. The controller structure can employ a mit rule to compensate adaptively the nonlinearities in the plant. A stable controller- parameter adjustment mechanism, which is determined using the Kalman filter , is constructed using a pid controller-type updating law. The evaluation of control error in terms of the error is performed. the use of Kalmal Filter in conventional model reference adaptive control (MRAC) to control magnetic levitation system. In the conventional MRAC scheme, the controller is designed to realize plant output converges to reference model output based on the plant which is linear. This scheme is effectively for controlling linear plants with unknown parameters. However, using MRAC to control the magnetic levitation system at real time is a difficult problem for Control system design because it has highly sensitivity for atmospheric disturbance. The proposed method presents design methodology of PID controller using MRAC technique and kalman filter for solving the problems. The adjustable PID parameters corresponding to changes in plant and disturbance will be determined by referring to the reference model specifying the properties of desired control system. Therefore, this technique is convenient to control the process for satisfying the requirement of the system performance.