학술논문
Robust Adaptive Control of Nonlinear Systems with Convex Input Constraints
Case Study on the Magnetic Levitation System
Case Study on the Magnetic Levitation System
Document Type
Conference
Source
제어로봇시스템학회 국제학술대회 논문집. 2009-08 2009(8):4411-4416
Subject
Language
Korean
ISSN
2005-4750
Abstract
In this paper, we propose a control Lyapunov function(CLF)-based robust nonlinear adaptive controller for the magnetic levitation system. The proposed controller consists of a pre-feedback compensator with an adaptive control mechanism and a robust stabilizing controller. By using this controller, again margin for closed loop system is guaranteed. The effectiveness of the proposed controller is confirmed by experiments.