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Journal ArticleDOI

CDM Based Servo State Feedback Controller with Feedback Linearization for Magnetic Levitation Ball System

26 Jun 2018-International Journal on Advanced Science, Engineering and Information Technology (INSIGHT - Indonesian Society for Knowledge and Human Development)-Vol. 8, Iss: 3, pp 930-937
TL;DR: The system uses feedback linearization to change the nonlinear model of magnetic levitation ball system to the linear system and the simulation shows the system can follow the desired position and robust from the position disturbance.
Abstract: This paper explains the design of Servo State Feedback Controller and Feedback Linearization for Magnetic Levitation Ball System (MLBS). The system uses feedback linearization to change the nonlinear model of magnetic levitation ball system to the linear system. Servo state feedback controller controls the position of the ball. An integrator eliminates the steady state error in servo state feedback controller. The parameter of integral gain and state feedback gains is achieved from the concept of Coefficient Diagram Method (CDM). The CDM requires the controllable canonical form, because of that Matrix Transformation is needed. Hence, feedback linearization is applied first to the MLBS then converted to a controllable form by a transformation matrix. The simulation shows the system can follow the desired position and robust from the position disturbance. The uncertainty parameter of mass, inductance, and resistance of MLBS also being investigated in the simulation. Comparing CDM with another method such as Linear Quadratic Regulator (LQR) and Pole Placement, CDM can give better response, that is no overshoot but a quite fast response. The main advantage of CDM is it has a standard parameter to obtain controller’s parameter hence it can avoid trial and error.
Citations
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Journal ArticleDOI
TL;DR: The examination of the mass, inductance, and resistance uncertainties showed that the robustness parameter is able to handle them and to provide a robust controller.
Abstract: Magnetic Levitation System or Maglev system is a modern and future technology that has many advantages and applications. Its characteristic is highly nonlinear, fast dynamics, and unstable, so it is challenging to make a suitable controller. The model of the Maglev system is in nonlinear state-space representation, and then feedback linearization is implemented to obtain the linear model system. Then, the integral state feedback control that tuned by the coefficient diagram method is implemented. The robustness of the controller is determined using the coefficient diagram method. The result of the standard coefficient diagram parameter will be compared with the robustness parameter. The open-loop test simulation showed that the maglev system has a nonlinear characteristic. Among all of the uncertainties, the uncertainty of resistance provides the highest nonlinearity, even by the small value of uncertainty. The examination of the mass, inductance, and resistance uncertainties showed that the robustness parameter is able to handle them and to provide a robust controller.

17 citations


Cites methods from "CDM Based Servo State Feedback Cont..."

  • ...Based on the previous work [21], a process to determine the controller’s parameters always become a problem....

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Journal ArticleDOI
TL;DR: In this article, a hybrid controller is proposed for trajectory tracking control of uncertain magnetic levitation systems, which is a combination of an adaptive fixed-time disturbance observer and a fixed time control algorithm.
Abstract: In this research, a new robust control method is developed, which achieves a fixed-time convergence, robust stabilization, and high accuracy for trajectory tracking control of uncertain magnetic levitation systems. A hybrid controller is a combination of an adaptive fixed-time disturbance observer and a fixed-time control algorithm. First, to estimate precisely the total uncertain component in fixed-time, an adaptive disturbance observer is constructed. Then, a new robust control method is designed from a proposed fixed-time sliding manifold, disturbance observer’s information, and a continuous fixed-time reaching law. A global fixed-time stability and convergence time boundary of the control system is obtained by Lyapunov criteria in which the settling time can be arbitrarily set using design parameters regardless of the system’s initial state. Finally, the designed control strategy is implemented for a magnetic levitation system and its control performance is compared with other existing finite-time control methods to evaluate outstanding features of the proposed system. Trajectory tracking experiments in MATLAB/SIMULINK environment have been performed to exhibit the effectiveness and practicability of the designed approach.

14 citations

Journal ArticleDOI
TL;DR: In this article, two different approaches to a nonlinear unstable magnetic levitation system control are compared and evaluated, and the efficiency of robust discrete-time pole-placement controller is shown as well as its competitiveness in comparison with nonlinear control for Magnetic levitation systems.
Abstract: Nonlinear system control belongs to advanced control problems important for real plants control design. Various techniques have been developed in this field. In this paper we compare two different approaches to a nonlinear unstable Magnetic levitation system control. The first control design approach further develops our recent results on robust discrete-time pole-placement, based on convex DR-regions. The second studied approach is based on feedback linearization and the simplified development of the corresponding nonlinear control law is provided. Both approaches are compared and evaluated. The efficiency of robust discrete-time pole-placement controller is shown as well as its competitiveness in comparison with nonlinear control for Magnetic levitation system.

9 citations

Journal ArticleDOI
16 Jan 2021-Symmetry
TL;DR: In this paper, the authors further develop the inner convex approximations of the cardioid and present systematical analysis of its design parameters and their influence on the corresponding closed loop performance.
Abstract: Robust pole-placement based on convex DR-regions belongs to the efficient control design techniques for real systems, providing computationally tractable pole-placement design algorithms. The problem arises in the discrete-time domain when the relative damping is prescribed since the corresponding discrete-time domain is non-convex, having a “cardioid” shape. In this paper, we further develop our recent results on the inner convex approximations of the cardioid, present systematical analysis of its design parameters and their influence on the corresponding closed loop performance (measured by standard integral of absolute error (IAE) and Total Variance criteria). The application of a robust controller designed with the proposed convex approximation of the discrete-time pole region is illustrated and evaluated on a real laboratory magnetic levitation plant.

4 citations

References
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"CDM Based Servo State Feedback Cont..." refers methods in this paper

  • ...This technique is applied to various systems, such as Suspension [3], Wind Turbine [4], Microbots [5], Bearing [6], Medical [7] and Vehicles [8]....

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  • ...SMC has the chattering effect; backstepping is not robust from disturbance, and high-gain observer shows the time response still overshoot....

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  • ...Feedback linearization techniques can be viewed as ways of transforming original system models into equivalent models of a more straightforward form [25]....

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Abstract: INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises

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"CDM Based Servo State Feedback Cont..." refers background in this paper

  • ...where Υ is the external force acting on the &L generalized coordinate [24]....

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TL;DR: The root locus method frequency domain analysis classical control design methods state-space design methods optimal control digital control system identification adaptive control robust control fuzzy control is presented.
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1,767 citations


"CDM Based Servo State Feedback Cont..." refers background in this paper

  • ...The control signal of state feedback is determined by an instantaneous state gain [21]....

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