Title: An optimised 2-DOF IMC-PID-based control scheme for real-time magnetic levitation system

Authors: Avadh Pati; Richa Negi

Addresses: Department of Electrical Engineering, Motilal Nehru National Institute of Technology Allahabad, Allahabad, India ' Department of Electrical Engineering, Motilal Nehru National Institute of Technology Allahabad, Allahabad, India

Abstract: This paper addresses an optimised 2-DOF internal model-based PID controller for unstable magnetic levitation system. Here, the proposed controller is realised using IMC control theory and its parameter are calculated using Maclaurin series expansion. Particle swarm optimisation (PSO) algorithm is used for obtaining an optimised 2-DOF IMC-PID controller. The proposed method is simpler to use due to its explicit tuning method as compared to other frequency response methods. The real-time experimental results are given, illustrating the effectiveness of proposed controller. The suggested controller not only improves the transient and tracking response but also maintains the robustness of maglev system under various disturbance environments. The performance of the proposed controller is compared with conventional PID controller.

Keywords: maglev system; internal model control; IMC; PID controller; particle swarm optimisation; PSO; 2-DOF IMC PID controller; stability analysis; robustness; disturbance rejection.

DOI: 10.1504/IJAAC.2019.100468

International Journal of Automation and Control, 2019 Vol.13 No.4, pp.413 - 439

Received: 12 Oct 2017
Accepted: 23 Nov 2017
Published online: 29 Jun 2019 *

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