Abstract
In this work, the principle of Immersion and Invariance (I&I) is used in the design of an observer/estimator for a closed-loop magnetic levitation system in order to reconstruct the magnetic levitator speed, the internal resistance of the coil and the mass of the levitating ball. By relying on Lyapunov function theory and analysis around a neighborhood of the operation point of the closed-loop dynamics, the stability and convergence of the observed states and estimated parameters to actual ones are guaranteed. Experimental results are shown to demonstrate the effectiveness of the proposed method.
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