A unified approach for parametric robust control of electromagnetic levitation system

Abstract

This paper proposes a unified approach for robust controller (RC) design for Electro-magnetic Levitation System (EMLS) in delta domain. Dynamic systems modelling with delta operator provides a unified framework in rapprochement between discrete-time dynamic models and its continuous counterpart at fast sampling. This property is utilised to design different classical control schemes such as PI, PD and PID in delta domain for EMLS. Generally, the behaviour of the EMLS is nonlinear and it is unstable in nature. Due to the above properties it is first linearised. The controllers are designed in delta domain such that both the physical systems of EMLS (voltage and current controlled systems) become robust subject to all parameter variations and uncertainties. The simulation results exhibit the usefulness of the proposed controller design methodology.