Robust Controller Design Based on Equivalent Input Disturbance For Magnetic Levitation System

Abstract

In this paper, a disturbance rejection robust control design based on Equivalent Input Disturbance (EID) is proposed for the Magnetic Levitation System (Maglev). First, the dynamics of a magnetic levitation system are modelled while significant uncertainties and disturbances are taken into account. The state of the Maglev plant is reconstructed using a state observer. The uncertainty and disturbances are then estimated, a method called the equivalent input disturbance is used. Finally the methods validity is shown by using a magnetic levitation system to control the position of a metal ball. The effectiveness of the EID in estimation of states as well as disturbance rejection is demonstrated through simulation.