ROBUST TRACKING IN TWO-DEGREE-OF-FREEDOM CONTROL SYSTEMS: MAGNETIC LEVITATION SYSTEM

Abstract

The fundamental result of this work is to provide a connection between an input-output model such as a two-degree-of freedom control system and an equivalent model in the state-space, whose state vector depends exclusively on the measurable information of the original system provided by its outputs. This allows taking advantage of powerful numerical methods to perform controller synthesis and then come back to the two-degree-of-freedom control system for the implementation of the controller. This work focused on state-feedback control laws that ensure robust performance. The effectiveness of the method is validated through the application on the magnetic levitation system.