H₂/H_∞ Suboptimal Controller Design of Magnetic Levitation Systems

Abstract

In this paper, we propose a robust controller design method for magnetic levitation systems based on H₂/H_∞ control theory. As a feedback controller, an H_∞ suboptimal controller is designed via the loop shaping procedure to obtain the satisfactory feedback properties. And in order to obtain the desired command response, an H₂ optimal controller is adopted. The obtained controller also achieves the robust tracking for step command signals. The effectiveness of the controller is evaluated by experiments of magnetic leviation.