The magnetic levitation system requires a finely tuned controller to suspend a ball in the air. Any imbalance in the force balance condition might result in high fluctuations causing the ball to fall out of levitation. A hybrid tuning strategy based on successful levitation and minimization of vibrations has been designed and tested in real time. The proportional–integral–derivative controller has been tuned in two stages. The parameters of the controller have been calculated by the traditional pole placement technique for coarse tuning and evaluation of bounds. Nature-based non-traditional optimization techniques have been used to minimize the integral of the absolute error within this threshold limit for finer tuning. This novel strategy has been employed to find the best combination of the controller parameters such that levitation is ensured by coarse tuning and error is minimized by fine tuning. Real-time robustness analysis has also been done by means of rejection of external disturbance induced manually in the levitated stage.

中文翻译：

---

磁悬浮系统粗细混合控制器调优策略

磁悬浮系统需要一个微调的控制器来将球悬浮在空中。力平衡条件的任何不平衡都可能导致高波动，导致球脱离悬浮状态。基于成功悬浮和振动最小化的混合调谐策略已被实时设计和测试。比例-积分-微分控制器分两个阶段进行调整。控制器的参数已经通过传统的极点放置技术计算出来，用于粗调和评估边界。已使用基于自然的非传统优化技术来最小化此阈值限制内的绝对误差积分，以进行更精细的调整。这种新颖的策略已被用于找到控制器参数的最佳组合，从而通过粗调确保悬浮，并通过微调将误差最小化。还通过拒绝在悬浮阶段手动引起的外部干扰来进行实时鲁棒性分析。