Iterative Learning Control Based Fractional Order PID Controller for Magnetic Levitation System

Hanif, Bushra; Shaikh, Inam-ul-hassan; Ali, Ahsan

doi:10.22581/muet1982.1904.03

Mehran Univ. res. j. eng. technol.

2019

DOI: 10.22581/muet1982.1904.03

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Iterative Learning Control Based Fractional Order PID Controller for Magnetic Levitation System

Bushra Hanif

Inam-ul-hassan Shaikh

Ahsan Ali

Abstract: Maglev (Magnetic Levitation) systems are an interesting class of systems since they work without any physical contact and are hence frictionless. Due to this attractive property, such systems have the potential for wide range of applications such as maglev trains. Maglev is non-linear due to magnetic field and unstable that suggest the need of stabilizing controller. An appropriate controller is required to levitate the object at desired position. FOPID (Fractional Order Proportional Integral Derivative) contr… Show more

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Cited by 3 publications

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Comprehensive review and analysis of the electromagnetic levitation systems (modeling, controllers, nonlinearity sources)

Mustafa

2023

E3S Web Conf.

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Magnetic Levitation Systems (MLS) is a higher advanced technology without any mechanical contact that results in zero friction losses. Such technology offers a low cost of maintenance, precise operation, very clean working, not noisy and quiet, remotely controlled, and small size. These features make it utilize with various important applications in different fields and different industries sectors, it can be applied in the vibration absorber, Biomedical applications or devices, very fast transport technology, etc. It is very well known that the (MLS) are non-linear and unstable open-loop, hence, numerous approaches are considered for non-linear control techniques to present a variety of results. The aim of our analysis in this article is to introduce the system's nature and behavior and to learn about the system's components as well as to cover most of the applied controlling approaches that were suggested by researchers to acquire the best performance.

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Comprehensive review and analysis of the electromagnetic levitation systems (modeling, controllers, nonlinearity sources)

Mustafa

2023

E3S Web Conf.

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A Hybrid H∞ Control Based ILC Design Approach for Trajectory Tracking of a Twin Rotor Aerodynamic System

Saleem

Ali

Shaikh

et al. 2021

Mehran Univ. res. j. eng. technol.

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This paper investigates the trajectory tracking problem for a Multi-Input Multi-Output (MIMO) Twin Rotor Aerodynamic System (TRAS) using a hybrid architecture based on an H∞∞∞∞ controller and Iterative Learning Control (ILC). TRAS is a fast, nonlinear coupled system and therefore it is a challenging task to design a control system that ensures the tracking for fast changing trajectories. The controllers proposed in the literature for the TRAS through linear approaches tend to have a large control effort, while the ones designed using the nonlinear approaches track only for smooth input trajectories. Both issues are important from control point of view. In this paper, these issues are addressed by designing a feedback H∞∞∞∞ control that stabilizes the system and a feedforward ILC which reduces the control effort. The H∞∞∞∞ controller achieves the tracking for input trajectories with sharp edges, but the control effort required for tracking is large. With the proposed hybrid approach, tracking is achieved by the H∞∞∞∞ controller whereas the required control effort is reduced in each subsequent iteration by ILC. After a few iterations, accurate tracking at a minimized control effort is achieved. The simulations have been performed using MATLAB software and the controller designed through the proposed approach has been validated on nonlinear model of the system. The results of the proposed technique, compared with the flatness-based and back-stepping control strategies, show that the proposed controller ensures accurate tracking at the reduced control effort.

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Stabilization of the Magnetic Levitation System

2021

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This paper contributes toward research on the control of the magnetic levitation plant, representing a typical nonlinear unstable system that can be controlled by various methods. This paper shows two various approaches to the solution of the controller design based on different closed loop requirements. Starting from a known unstable linear plant model—the first method is based on the two-step procedure. In the first step, the transfer function of the controlled system is modified to get a stable non-oscillatory system. In the next step, the required first-order dynamic is defined and a model-based PI controller is proposed. The closed loop time constant of this first-order model-based approach can then be used as a tuning parameter. The second set of methods is based on a simplified ultra-local linear approximation of the plant dynamics by the double-integrator plus dead-time (DIPDT) model. Similar to the first method, one possible solution is to stabilize the system by a PD controller combined with a low-pass filter. To eliminate the offset, the stabilized system is supplemented by a simple static feedforward, or by a controller proposed by means of an internal model control (IMC). Another possible approach is to apply for the DIPDT model directly a stabilizing PID controller. The considered solutions are compared to the magnetic levitation system, controlled via the MATLAB/Simulink environment. It is shown that, all three controllers, with integral action, yield much slower dynamics than the stabilizing PD control, which gives one motivation to look for alternative ways of steady-state error compensation, guaranteeing faster setpoint step responses.

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Iterative Learning Control Based Fractional Order PID Controller for Magnetic Levitation System

Cited by 3 publications

References 23 publications

Comprehensive review and analysis of the electromagnetic levitation systems (modeling, controllers, nonlinearity sources)

Comprehensive review and analysis of the electromagnetic levitation systems (modeling, controllers, nonlinearity sources)

A Hybrid H∞ Control Based ILC Design Approach for Trajectory Tracking of a Twin Rotor Aerodynamic System

Stabilization of the Magnetic Levitation System

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