Design and implementation of a 2-DOF PID compensation for magnetic levitation systems |
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Authors: | Arun Ghosh T Rakesh Krishnan Pailla Tejaswy Abhisek Mandal Jatin K Pradhan Subhakant Ranasingh |
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Affiliation: | 1. School of Electrical Sciences, Indian Institute of Technology Bhubaneswar, Odisha 751013, India;2. Department of Computer Science and Communication, KTH (Royal Institute of Technology), Stockholm, Sweden |
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Abstract: | This paper employs a 2-DOF (degree of freedom) PID controller for compensating a physical magnetic levitation system. It is shown that because of having a feedforward gain in the proposed 2-DOF PID control, the transient performance of the compensated system can be changed in a desired manner unlike the conventional 1-DOF PID control. It is also shown that for a choice of PID parameters, although the theoretical loop robustness is the same for both the compensated systems, in real-time, 2-DOF PID control may provide superior robustness if a suitable choice of the feedforward parameter is made. The results are verified through simulations and experiments. |
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Keywords: | 1-DOF PID controller 2-DOF PID controller MAGLEV |
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