International Federation of Automatic Control
3rd IFAC SYMPOSIUM on SYSTEM, STRUCTURE and CONTROL
Foz do Iguassu, Brazil October 17th - 19th, 2007
| International Federation of Automatic Control | |
Session FM1: Predictive and Optimal ControlChair: Jan Maciejowski - United Kingdom Co-chair: Julio E. Normey-Rico - Brazil Room: Assunção 2007-10-19 From 10:00 to 12:00 | |
| Robust Constrained Predictive Control of a Magnetic Levitation System Marcelo Handro Maia; Roberto Kawakami Harrop Galvão Contact: Marcelo Handro Maia - Brazil | |
| 10:00-10:20 | |
| Abstract: | |
| This paper concerns the implementation of a robust predictive state regulator for a second order nonlinear model of the vertical dynamics in a magnetic levitation system. The predictive control law uses feedback linearization and ensures constraint satisfaction, when external disturbances are present, by tightening the original operational constraints. For comparison, an implementation based on an approximate prediction model obtained by Taylor linearization is also considered. Simulation results show the advantages of using exact feedback linearization, as robust feasibility is not guaranteed when the prediction model is only an approximation of the nonlinear plant. Copyright © 2007 IFAC. | |