Design of an Adaptive State Feedback Controller for a Magnetic Levitation System

Omar Waleed Abdulwahhab


This paper presented designing an Adaptive State Feedback Controller (ASFC) for a Magnetic Levitation System (MLS), which is an unstable system and has high nonlinearity and represents a challenging control problem. First, a nonadaptive State Feedback Controller (SFC) was designed by linearization about a selected equilibrium point and designing a SFC by pole-placement method to achieve maximum overshoot of 1.5% and settling time of 1s (5% criterion). When the operating point changed, the designed controller could no longer achieve the design specifications, since it was designed based on a linearization about a different operating point. This gave rise to utilizing the adaptive control scheme to parameterize the state feedback controller in terms of the operating point. The results of the simulation showed that the operating point had significant effect on the performance of nonadaptive SFC, and this performance might degrade as the operating point deviated from the equilibrium point, while the ASFC achieved the required design specification for any operating point and outperformed the state feedback controller from this point of view.


Adaptive state feedback controller; Indirect Lyapunov's Theorem; Magnetic levitation system; Unstable nonlinear system

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