For inherently unstable magnetic levitation (maglev) systems, state observation is required for feedback control, and disturbance estimation is needed to compensate for unknown disturbances. Previous designs for simultaneously observing state and disturbance can lead to aggressive disturbance compensation and an unstable levitation. Aiming at these problems, this paper presents a state and disturbance observer that has a cascade structure for a maglev system. The proposed design allows the dynamics of disturbance observation to be separately tuned from those of state observation, avoiding aggressive disturbance compensation and enabling a stable levitation of a maglev system. In this paper, the proposed and previous state and disturbance observers are designed and realized for a maglev system that features wide ranges of translation and rotation motions in five directions. Comparative studies are reported in this paper, and experimental results show feasibility and efficiency of the proposed scheme.

对于本质上不稳定的磁悬浮（maglev）系统，需要状态观测来进行反馈控制，并且需要扰动估计来补偿未知扰动。以前同时观察状态和扰动的设计会导致激进的扰动补偿和不稳定的悬浮。针对这些问题，本文提出了一种具有级联结构的磁悬浮系统状态与扰动观测器。所提出的设计允许扰动观察的动力学与状态观察的动力学分开调整，避免激进的扰动补偿并实现磁悬浮系统的稳定悬浮。在本文中，拟议的和以前的状态和扰动观察器是为磁悬浮系统设计和实现的，该系统具有五个方向的大范围平移和旋转运动。本文报告了比较研究，实验结果表明了所提出方案的可行性和有效性。