Salp Swarm Algorithm-Based Nonlinear Robust Control of Magnetic Levitation System Using Feedback Linearization Approach

Abstract

This paper presents a robust nonlinear controller design for a magnetic levitation system (MLS). The feedback linearization method is utilized to transform the nonlinear model of MLS into the controller form. The controller is then designed and its parameters are optimized by the Salp Swarm Algorithm (SSA). Extensive MATLAB simulations are performed to evaluate the performance of the proposed controller as well as to compare it with PID and LQR controllers which are optimized by the SSA as well. Obtained results demonstrate that the proposed controller successfully tracks different kinds of reference signals (step, sine, and square) even in the presence of the system parameter perturbations and outperforms the PID and LQR controllers.