Application of Model Predictive Controller to Magnetic Levitation

Abstract

Model Predictive Control (MPC) is an advanced process control method that is widely used for controlling both linear and under some modifications for non-linear systems. The aim of this work is to show a way how to apply MPC to a non-linear Magnetic Levitation System (MLS) and its capability of stabilization and closed-loop performance. This work is a continuation of the previous article where the laboratory plant CE 152 MLS was identified, and a non-linear model was designed. This paper proposes a control circuit consisting of linearized discretized non-linear MLS model, Extended Kalman Filter (EKF) algorithm for state estimation and linear MPC. The results are verified in simulation and real-world experiment.