IMPROVING CONTROL PERFORMANCE OF AN UNSTABLE NONLINEAR SYSTEM BY PARAMETER IDENTIFICATION

Abstract

In this paper, we propose an efficient procedure of physical parameter identification of a magnetic levitation system, where the levitated steel ball is controlled by a robust nonlinear controller which is designed based on rough nominal parameters. Design techniques of the robust nonlinear controller are described and parameter identification results are included. Finally, it is shown that position tracking performance can be improved by using the identified parameters.