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Abstract In this study, a self-tuning robust integral of signum of error (RISE) based controller is designed and used to control a magnetic levitation (maglev) system. In the control design,… Click to show full abstract
Abstract In this study, a self-tuning robust integral of signum of error (RISE) based controller is designed and used to control a magnetic levitation (maglev) system. In the control design, unlike the classical RISE controller, ‘tanh’ function is used instead of ‘signum’ function to obtain a more smooth control signal. The gains of the controller are updated according to a time-varying update rule. Convergence of the error under the closed-loop operation is proven via Lyapunov-based stability analysis. The controller is tested on an experimental maglev system and successful results are obtained.
Journal Title: Control Engineering Practice
Year Published: 2018
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