In recent times, Magnetic Levitation (Maglev) technology has gained huge popularity in different fields of research. Transportation, nuclear, aerospace, biomedical, civil and electrical engineering are some of the areas where the presence of Maglev technology is prominent. But because of the inherent nonlinear and unstable behaviour, the task of designing a suitable controller becomes very challenging for the control engineers. In this paper, a simple but effective approach has been proposed for the design of 2-DOF Proportional-Integral-Derivative (PID) controller for the control of Maglev system in simulation and real-time for the very first time, to the best of author's knowledge. The controller parameter values have been analytically obtained by optimizing the location of closed loop poles in the s-plane which eventually minimizes the Integral Square Error (ISE) of the closed loop system along with the controller. As the controller parameters are found by searching the best pole location, we name it as pole search technique. The performance of the controller has been compared with those of the 1 & 2-DOF Integer Order and Fractional Order PID and I-PD controllers designed for the same Maglev plant. The result of the comparison reveals that the 2-DOF PID controller, designed in this paper, outperforms other controllers in terms of maximum overshoot, settling time, Integral Absolute Error (IAE), Integral Time Absolute Error (ITAE) and Integral Time Square Error (ITSE). Moreover, to illustrate the loop robustness property, input and output disturbances have been applied in real-time simulation environment and sensitivity and complementary sensitivity analysis have been performed. Additionally, to show the applicability of the proposed technique apart from Maglev, 2-DOF PID controller has been designed for the Ball and Beam and Coupled Tank system and their performance has been compared with the existing results.

近年来，磁悬浮（Maglev Levitation，Maglev）技术在不同的研究领域中获得了极大的普及。交通运输，核能，航空航天，生物医学，土木和电气工程是磁悬浮技术的重要应用领域。但是由于固有的非线性和不稳定的行为，设计合适的控制器的任务对于控制工程师而言变得非常具有挑战性。在本文中，首次提出了一种简单有效的方法来设计2-DOF比例积分-微分（PID）控制器，用于磁悬浮系统的仿真和实时控制，这是最好的。作者的知识。通过优化s中的闭环极点的位置，可以通过分析获得控制器参数值。平面，最终使闭环系统与控制器的积分平方误差（ISE）最小化。由于通过搜索最佳极点位置可以找到控制器参数，因此我们将其命名为极点搜索技术。该控制器的性能已与为同一Maglev工厂设计的1和2自由度整数阶和分数阶PID和I-PD控制器进行了比较。比较结果表明，本文设计的2自由度PID控制器在最大过冲，稳定时间，积分绝对误差（IAE），积分时间绝对误差（ITAE）和积分时间平方误差方面优于其他控制器。 （ITSE）。此外，为了说明循环的鲁棒性，输入和输出干扰已应用于实时仿真环境中，并进行了灵敏度和互补灵敏度分析。另外，为了展示所提出技术的适用性，除了磁悬浮技术，还为球和梁与耦合罐系统设计了2自由度PID控制器，并将其性能与现有结果进行了比较。