Design and implementation of a 2-DOF PID compensation for magnetic levitation systems

Arun Ghosh; T Rakesh Krishnan; Pailla Tejaswy; Abhisek Mandal; Jatin K Pradhan; Subhakant Ranasingh

doi:10.1016/j.isatra.2014.05.015

Design and implementation of a 2-DOF PID compensation for magnetic levitation systems

ISA Trans. 2014 Jul;53(4):1216-22. doi: 10.1016/j.isatra.2014.05.015. Epub 2014 Jun 16.

Authors

Arun Ghosh¹, T Rakesh Krishnan², Pailla Tejaswy³, Abhisek Mandal³, Jatin K Pradhan³, Subhakant Ranasingh³

Affiliations

¹ School of Electrical Sciences, Indian Institute of Technology Bhubaneswar, Odisha 751013, India. Electronic address: arun_ghosh1@yahoo.co.in.
² Department of Computer Science and Communication, KTH (Royal Institute of Technology), Stockholm, Sweden.
³ School of Electrical Sciences, Indian Institute of Technology Bhubaneswar, Odisha 751013, India.

PMID: 24947430
DOI: 10.1016/j.isatra.2014.05.015

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.

Keywords: 1-DOF PID controller; 2-DOF PID controller; MAGLEV.

Publication types

Research Support, Non-U.S. Gov't