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In this paper, we advance a nonlinear control design concept based on backstepping, adjusted so that it might be used for a wider class of dynamical systems than the so-called strict-feedback form. Possible applications concern magnetic levitation systems, one of which will be used, in this paper, to design the proposed controller. Theoretical aspects regarding feasibility, stability and optimality...
The presented paper shows how nonlinear control theory can be applied to magnetic bearings with permanent magnetic force. Because of the difficult expression for the magnetic force symbolic computation of Lie derivatives becomes unhandy. Therefore the Lie derivatives will be calculated applying automatic differentiation.
This paper presents the implementation of a two degree-of-freedom, high-precision, magnetic-levitation-based positioning system. The apparatus employs one permanent magnet linear synchronous motor and is constructed by Quanser Inc. The paper focuses on the design and testing of a nonlinear controller required for actuating the positioning system. The controller is based on feedback linearization and...
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