Abstract
In this paper two cascade control system (CCS) structures designed in order to control the position of the magnetic sphere of a Magnetic levitation laboratory equipment are presented. The proposed CCS structures consist of a TP– based controller (TP–C) in the inner control loop and a Proportional Integral Fuzzy Controller (PI–FC) with integration of controller output (Fuzzy–OI–TP–CS) and a PI– FC with integration of controller input (Fuzzy–II–TP–CS) in the outer control loop, respectively. The parallel distributed compensation technique (PDC), the modal equivalence principle and the modulus optimum method are used in the design of the suggested CCS structures. The experimental results validate the proposed control solutions. Finally, a comparative analysis is also included.
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