Robust control of nonlinear MAGLEV suspension system with mismatched uncertainties via DOBC approach

Yang, Jun and Zolotas, Argyrios and Chen, Wen-Hua and Michail, Konstantinos and Li, Shihua (2011) Robust control of nonlinear MAGLEV suspension system with mismatched uncertainties via DOBC approach. ISA Transactions, 50 (3). 389 - 396. ISSN 0019-0578

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Robust control of nonlinear MAGLEV suspension system with mismatched uncertainties via DOBC approach

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Abstract

Robust control of a class of uncertain systems that have disturbances and uncertainties not satisfying “matching” condition is investigated in this paper via a disturbance observer based control (DOBC) approach. In the context of this paper, “matched” disturbances/uncertainties stand for the disturbances/uncertainties entering the system through the same channels as control inputs. By properly designing a disturbance compensation gain, a novel composite controller is proposed to counteract the “mismatched” lumped disturbances from the output channels. The proposed method significantly extends the applicability of the {DOBC} methods. Rigorous stability analysis of the closed-loop system with the proposed method is established under mild assumptions. The proposed method is applied to a nonlinear {MAGnetic} {LEViation} (MAGLEV) suspension system. Simulation shows that compared to the widely used integral control method, the proposed method provides significantly improved disturbance rejection and robustness against load variation.

Keywords:Disturbance observer, Robustness, Uncertainty, Robust control, state space
Subjects:H Engineering > H660 Control Systems
H Engineering > H100 General Engineering
Divisions:College of Science > School of Engineering
ID Code:15034
Deposited On:24 Sep 2014 10:12

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