Experimental verification of Output Feedback Control with CMAC based Adaptive PFC and FF Input through magnetic levitation system

For nonlinear continuous-time systems, a robust adaptive output feedback control method based on output feedback exponential passivity (OFEP) with the cerebellar model articulation controller (CMAC) based parallel feedforward compensator (PFC) and feedforward (FF) input has been proposed. In this method, by applying the CMAC, which has low calculation cost and has strong nonlinearity characteristics, to PFC design and feedforward input design, stable output regulation control system is obtained for uncertain nonlinear systems. In this paper, we try to verify the effectiveness of the adaptive output feedback method with adaptive PFC and FF input via CMAC by experiments through a magnetic levitation system.