This paper proposes two control techniques to provide robust tracking for magnetic levitation systems (MLS): model-free control (MFC) and robust proportional-integral-derivative (PID) control. The proposed MFC does not require a mathematical model. The MFC uses a stabilising local PID controller and a continuous saturation function of a sliding surface. The local stabilising control is achieved through a trial-and-error method, while the other parameters in the sliding surface are tuned to achieve the required tracking and robustness objectives. For robust PID controller, a linear model of MLS is derived. The robustness, tracking, and transient problems are formulated using the \({{\cal H}_\infty}\) theory and solved using the genetic algorithm. Experimental verifications are conducted to demonstrate the effectiveness of the proposed controllers.

本文提出了两种控制技术来为磁悬浮系统 (MLS) 提供鲁棒跟踪：无模型控制 (MFC) 和鲁棒比例积分微分 (PID) 控制。建议的 MFC 不需要数学模型。MFC 使用稳定的局部 PID 控制器和滑动表面的连续饱和函数。局部稳定控制是通过试错法实现的，同时调整滑动面中的其他参数以实现所需的跟踪和鲁棒性目标。对于鲁棒 PID 控制器，推导出 MLS 的线性模型。鲁棒性、跟踪和瞬态问题使用\({{\cal H}_\infty}\)理论并使用遗传算法求解。进行实验验证以证明所提出的控制器的有效性。