Abstract
The paper presents the design and the implementation of two model predictive controllers (MPCs) for magnetic levitation systems. The presentation is focused on the position control of a sphere in a magnetic levitation system with two electromagnets laboratory equipment in order to test the proposed controllers. A state feedback control structure is first designed to stabilize the system. In order to ensure the zero steady-state control errors, the second controller is based on an MPC in the outer control loop. The autoregressive exogenous model corresponding to closed-loop state feedback control system is computed in order to develop the MPC. The simulation results are included to illustrate the performance of the position control systems.
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