Robust Controller Design for Perturbed Systems and Control of an Attractive Type Magnetic Levitation System

섭동계의 강인한 제어기 설계와 흡인형 자기부상계 제어

This paper is concerned with the robust control of LQ state feedback regulators with poles in a specified region in the presence of system uncertainty. The robust stability results for the constant and nonlinear time varying perturbations are derived in terms of bounds of the perturbed system matrices and the weighting matrices in the performance index of LQ problem. The theoretical results are applied to the gap control problem of an attractive-type-magnetic levitation system and the effectiveness is proved by the implementation of digital control using 16 bits microcomputer.