Abstract
This paper presents a half bogie model of magnetic levitation systems, which can capture the mechanical coupling between two suspension points. Based on the half bogie model, a model-guided state feedback controller is designed to stabilize the nominal model. A new extended state observer using measured data is proposed to estimate the unknown system state as well as the modeling uncertainties, disturbances, and coupling. This leads to an active disturbance rejection controller that can cancel the effect of unknown disturbances. By incorporating model-guided state feedback controller and the data-driven active disturbance rejection controller with an appropriate tuning of parameters, the closed loop system can track the desired gap up to any given accuracy. Simulation and experimental results demonstrate the effectiveness of the proposed method.
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