LAUSR

Abstract This paper explores the process of modelling and controlling a magnetic levitation apparatus using the linear parameter varying framework. Synthesis and analysis of a parameter scheduled observer and feedback tracking controller are performed and compared with a linear alternative, via both simulation and experiment. Closed-loop system stability of the final control scheme is also assessed using invariant set techniques. The paper presents all the steps required, from modelling to controller design and implementation, in a self-contained form that adds tutorial value to the contribution.