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Addy Wahyudie,Tri Bagus Susilo,Cuk Supriyadi Ali Nandar,Sameer Fayez,Rachid Errouissi 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.12
This paper proposes two control techniques to provide robust tracking for magnetic levitation systems (MLS): model-free control (MFC) and robust proportional-integral-derivative (PID) control. The proposed MFC does not require a mathematical model. The MFC uses a stabilising local PID controller and a continuous saturation function of a sliding surface. The local stabilising control is achieved through a trial-and-error method, while the other parameters in the sliding surface are tuned to achieve the required tracking and robustness objectives. For robust PID controller, a linear model of MLS is derived. The robustness, tracking, and transient problems are formulated using the H∞ theory and solved using the genetic algorithm. Experimental verifications are conducted to demonstrate the effectiveness of the proposed controllers.