Design of a Nonlinear Optimal Servo System for a Magnetic Levitation System

Abstract

In this report, a nonlinear optimal servo system for a magnetic levitation system is designed and its effectiveness is confirmed by an experiment. In the design of nonlinear servo systems, it is necessary to solve the regulator equations and construct a stabilizing feedback law. First, by feedback linearization, the regulator equations are solved. Second, the Hamilton-Jacobi equation for optimal stabilization is solved by using the stable manifold approach.