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Ryuji Michino,Ikuro Mizumoto 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper presents a design method of adaptive output feedback controller for nonlinear systems with higher order relative degree and some uncertainties in control input term. The controlled system has a relative degree of one from the virtual filter signals as a control input to the controlled system output by introducing two virtual filters. The actual control input is designed for the virtual filter output signals to be a high gain adaptive output feedback control through backstepping in the filter dynamics. The proposed method is useful in the case where only the output signal is available.
Application of High Gain Adaptive Output Feedback Control to a Magnetic Levitation System
Ryuji Michino,Hiroki Tanaka,Ikuro Mizumoto 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper shows application results of a high gain adaptive output feedback control to a magnetic levitation system. Usual high gain output feedback control can not be applied to the magnetic levitation system, since it is an unstable system with a relative degree greater than one and uncertain nonlinearities in control input term. In the applied method, a high gain adaptive output feedback controller is designed by introducing two different virtual filters and using backstepping strategy. The application results are shown in the numerical simulations and experiments.