Integral Action and Reduced-Order Observer-Based Control for a Magnetic Levitation System
Keywords:
Magnetic Levitation, Nonlinear control, Feedback Control, State ObserverAbstract
This paper presents the experimental implementation and validation of a single-sensor control architecture for a nonlinear magnetic levitation system based on well-established linear control techniques. The main contribution is the practical demonstration that accurate levitation control can be achieved using only position measurement, thereby simplifying the sensing hardware and reducing implementation costs compared to traditional multi-sensor approaches. An integral action is incorporated into the linear quadratic regulator (LQR) framework to ensure zero steady-state error under step-type reference variations. The complete closed-loop system stability is guaranteed by the separation principle between the controller and the observer dynamics. The proposed design was experimentally validated on a Quanser Magnetic Levitation platform, achieving a low steady-state position error and current estimation error. The experimental results on a Quanser platform demonstrate the practical feasibility of the single-sensor architecture, achieving position errors below 0.35 mm and confirming that classical LQR and reduced-order observer techniques can be effectively integrated for cost-effective magnetic levitation control.
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