Simple Robust PID Tuning for Magnetic Levitation Systems Using Model-free Control and ℋ Control Strategies

Addy Wahyudie, Tri Bagus Susilo, Cuk Supriyadi Ali Nandar, Sameer Fayez, Rachid Errouissi

Research output: Contribution to journalArticlepeer-review

Abstract

This paper proposes two control techniques to provide robust tracking for magnetic levitation systems (MLS): model-free control (MFC) and robust proportional-integral-derivative (PID) control. The proposed MFC does not require a mathematical model. The MFC uses a stabilising local PID controller and a continuous saturation function of a sliding surface. The local stabilising control is achieved through a trial-and-error method, while the other parameters in the sliding surface are tuned to achieve the required tracking and robustness objectives. For robust PID controller, a linear model of MLS is derived. The robustness, tracking, and transient problems are formulated using the ℋ theory and solved using the genetic algorithm. Experimental verifications are conducted to demonstrate the effectiveness of the proposed controllers.

Original languageEnglish
Pages (from-to)3956-3966
Number of pages11
JournalInternational Journal of Control, Automation and Systems
Volume19
Issue number12
DOIs
Publication statusPublished - Dec 2021

Keywords

  • magnetic levitation system
  • model free control
  • robust PID control
  • ℋ control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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