Explicit nonlinear predictive control for a magnetic levitation system
نویسندگان
چکیده
The paper presents a methodology for the construction of an explicit nonlinear control law via approximation of the nonlinear constrained finitetime optimal control (CFTOC). This is achieved through an approximate mapping of a general nonlinear system in a set of linear piecewise affine (PWA) systems. The key advantages of this methodology are two-fold: firstly, the construction of an analytic solution of the CFTOC problem leads to an efficient explicit implementation. Secondly, by taking advantage of MPC’s systematic fashion to handle constraints, an improved performance can be obtained for the closed-loop system. The proposed theory is applied in real-time for a system with fast dynamics: a magnetic levitation benchmark.
منابع مشابه
Explicit Feedback Linearization of Magnetic Levitation System
Abstract—This study proposes the transformation of nonlinear Magnetic Levitation System into linear one, via state and feedback transformations using explicit algorithm. This algorithm allows computing explicitly the linearizing state coordinates and feedback for any nonlinear control system, which is feedback linearizable, without solving the Partial Differential Equations. The algorithm is pe...
متن کاملTuned Parameters of PID for Optimization of Losses in Magnetic Levitation System
In this paper a new method is proposed for determining PID controller parameters in order to decrease losses in levitation system of magnetic trains. It is assumed that this system is a hybrid system and it consists of electric and permanent magnet. For optimization of losses initially AC losses of magnetic levitation system are calculated. Linear model of levitation system as well as modeling ...
متن کاملOffline Auto-Tuning of a PID Controller Using Extended Classifier System (XCS) Algorithm
Proportional + Integral + Derivative (PID) controllers are widely used in engineering applications such that more than half of the industrial controllers are PID controllers. There are many methods for tuning the PID parameters in the literature. In this paper an intelligent technique based on eXtended Classifier System (XCS) is presented to tune the PID controller parameters. The PID controlle...
متن کاملDesign of TS-PDC type Fuzzy Controller and stabilization of Magnetic Levitation System
In this paper technique applies is known as parallel distributed compensation (PDC). This PDC technique is used for the position control of a Magnetic Levitation system. Parallel Distributed Compensation technique is based on the TS-PDC type fuzzy model. In this paper it is shown that this PDC technique can be successfully used for the stabilization of Magnetic Levitation System at any arbitrar...
متن کاملIncreasing the Robustness of Magnetic Levitation System by Using PID-Sliding Mode Control
This paper presents regulation and tracking control design for a magnetic levitation system (Maglev). First, the nonlinear dynamic model of magnetic levitation system was built. Second, a sliding mode control (SMC) is constructed to compensate the uncertainties occurring in the magnetic levitation system. The control gains were generated mainly by experimental method. Next, a composite controll...
متن کامل