Model Following through a Metaheuristic PD Controller for a Magnetic Levitation System

The problem of controlling the position of a magnetically levitated ball is studied through a PD state feedback linear controller and the simultaneous satisfaction of a set of individual miscellaneous design requirements including stability, command following, model following and appropriately bounded input. The requirements are defined over the linear approximant of the magnetic levitation system. Also, for the solution of the problem, a metaheuristic algorithm, based on the linear approximant of the magnetic levitation system, is proposed. The performance of the proposed control scheme, for the resulting nonlinear closed loop system, is illustrated through a series of computational experiments.