柔軟ビーム磁気浮上系に対する受動性にもとづく制御

抄録

This paper presents a nonlinear control of a magnetic levitation system for a flexible beam. In this paper the magnetic levitation system is decomposed into two subsystems: an electrical subsystem and a mechanical subsystem. Controller for each subsystem is designed independently based on passivity. The obtained controller dose not needs current feedback for the electrical subsystem and consists of position, velocity and deflection rate feedback fot the mechanical subsystem. It ensures asymptotic stability of the position trajectory and suppression of the elastic vibration. To illustrate the validly of our controller, a numerical simulation is carried out.