Robust control of magnetic levitation systems by means of H control/μ-synthesis

Kenzo Nonami, Hidekazu Nishimura, Hidekazu Nishimura

Research output: Contribution to journalArticle

10 Citations (Scopus)

Abstract

This study is concerned with an application of H control and μ synthesis to magnetic levitation systems which have special flexible structures and the solution of the spillover problem. At first, we show the typical spillover phenomenon caused by the interaction between the control system and the flexible structure system using PID control. Next, applying mixed-sensitivity H control to the magnetic levitation system, we design the control system for it without spillover and describe in detail how to design an H controller. Finally, we analyze the structured singular value and design the μ controller using D-K iteration. In this paper, we assume the magnetic levitation system as an uncoupled system between the X and Y directions for simplicity, which is the third-order system with the exception of the guideway. As a result, it has been clarified that the H controller and μ-controller have the characteristics of two kinds of filters, a low-pass filter and a notch filter. It is found that the μ controller is superior to the H controller in terms of robust stability and robust performance. From experiments, we obtained good data on the magnetic levitation without spillover.

Original languageEnglish
Pages (from-to)513-520
Number of pages8
JournalJSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing
Volume37
Issue number3
Publication statusPublished - 1994 Sep
Externally publishedYes

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Magnetic levitation
Robust control
Controllers
Flexible structures
Control systems
Guideways
Wave filters
Notch filters
Three term control systems
Low pass filters

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Robust control of magnetic levitation systems by means of H control/μ-synthesis. / Nonami, Kenzo; Nishimura, Hidekazu; Nishimura, Hidekazu.

In: JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing, Vol. 37, No. 3, 09.1994, p. 513-520.

Research output: Contribution to journalArticle

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