Design of super twisting disturbance observer-based controller for magnetic levitation system
Tóm tắt
The magnetic levitation systems are mismatched systems with inherent unstable nonlinear dynamics. This work has examined a control strategy that control and stabilize the magnetic levitation system from difficult start-up circumstances to the desired operating points in presence of uncertainties and disturbances. A cascaded super twisting disturbance observer (STDO)-based sliding mode controller is devised for both the electrical and electromechanical loops of the system. The overall stability of the system has been established. The performance of suggested control scheme is evaluated using simulation and experimentation. The performance of the suggested controller is compared with a classic proportional integral and derivative (PID) controller and a state and disturbance observer (SDO)-based controller. Performance criteria used for comparison are Integrated Squared Error(ISE), Integrated Absolute Error(IAE) and Time Weighted Absolute Error(ITAE). The suggested super twisting disturbance observer-based control scheme outperforms the other two and is able to control and stabilize magnetic levitation system in presence of parametric uncertainties and disturbances with smooth control.
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