Linear Active Disturbance Rejection Controller for the 3-DOF Repulsive Magnetic Levitation System

In the control of the 3-DOF repulsive magnetic levitation system, it is difficult to achieve stable levitation due to the inherent nonlinearity and instability of the system with external disturbance. To enhance the disturbance rejection ability of the system, this paper proposes a linear active disturbance rejection control (LADRC) algorithm. A linear active disturbance rejection controller is developed for the system, which consists of linear states error feedback and extended state observer. The mathematical model is established. The results of simulation and experiments verify the effectiveness and anti-turbulence of the controller.