| Autor: |
Kozáková, Alena, Rosinová, Danica, Hypiusová, Mária, Kozák, Štefan |
| Zdroj: |
IFAC-PapersOnLine; January 2024, Vol. 58 Issue: 25 p138-143, 6p |
| Abstrakt: |
The paper deals with the design of robust LQG-based control for a maglev laboratory plant to ensure tracking of selected types of the levitating ball position reference and rejection of measurable input disturbance. The reference position tracking and the disturbance rejection are provided by the command generator tracker (CGT) – the LQ control designed for the modified state-space model augmented by the reference and disturbance state variable models. Robustness to model uncertainty guarantees that the linear CGT is applicable over the full range of the levitating ball distances from the upper coil and is achieved through adjusting the process- and measurement noise covariances in the Kalman filter design. The proposed CGT – LQG design for the real maglev system proceeds in several steps using simulations and experiments providing the insight into specific control problems. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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