Control of Position and Tracking ArcSenh for a Magnetic Levitator 1D

Abstract

In this work the model of the magnetic force of a System of Levitation is obtained and a position control and tracking are designed with a structure based on the function ArcSenh, which presents the characteristic of limiting the force given to the actuadores for not saturating them contrary to the PD. The tracking sign is of the type senoidal. It is also carried out the analysis of stability via Lyapunov. It is found that the position and tracking controls present an acceptable behavior.