Robust Position Control of a Magnetic Levitation System via Dynamic Surface Control Technique

摘要

This paper considers the position-tracking problem of a magnetic levitation system in the presence of modeling errors due to uncertainties of physical parameters. A robust nonlinear controller is designed to achieve excellent position-tracking performance. The recently developed dynamic surface control is modified and applied to the system under study, to overcome the problem of "explosion of terms" associated with the backstepping design procedure. Input-to-state stability of the control system is analyzed, and the advantages of the dynamic surface control technique over the conventional backstepping technique are verified through both theoretical and experimental studies.