Robust nonlinear disturbance suppression of a magnetic levitation system (Q1868091)

A magnetic suspension system is considered as a case study for developing robust controllers. In addition to parameter variations and input saturation, a disturbing force generated by a linear autonomous system is applied to the suspension system. It is shown by choosing a suitable internal model that a control law in the state space exists such that it stabilizes the system globally. This result is extended to output feedback. By introducing a nested control structure, the electrical dynamics are taken into account. Simulation results for the different scenarios are presented.