Title: Bench tests on friction compensation enhanced H control for MIMO magnetic levitation system

Authors: Yi-fei Wu; Fang-qin Huang; Guo-ping Wei; Yu Guo

Addresses: School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China ' School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China ' School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China ' School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China

Abstract: ECP Model 730 magnetic levitation system is a typical non-linear experiment system. Due to uncertainties, non-linearities and coupling characteristics, the MIMO magnetic levitation system is more difficult to control than the SISO one. To solve the problem, friction identification experiment is performed and Stribeck curve of LuGre model is fit by genetic algorithm. The system is compensated for friction and decoupled. A new H controller regarding friction uncertainties as system's input disturbance is designed to improve the control performance of this non-linear uncertain system. The effectiveness of the proposed controller is verified by practical bench tests.

Keywords: MIMO magnetic levitation; nonlinear systems; friction compensation; H-infinity control; uncertainty; decoupling; bench tests; friction identification; genetic algorithms; controller design.

DOI: 10.1504/IJMIC.2013.055654

International Journal of Modelling, Identification and Control, 2013 Vol.19 No.4, pp.361 - 368

Available online: 30 Jul 2013 *

Full-text access for editors Access for subscribers Purchase this article Comment on this article