Algebraic derivative estimation applied to nonlinear control of magnetic levitation.

• Ano de defesa: 2016
• Autor(a) principal: Moraes, Matheus Schwalb
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: eng
• Instituição de defesa: Biblioteca Digitais de Teses e Dissertações da USP
• Palavras-chave em Português: Adaptive control; Campo eletromagnético; Controle (Teoria de sistemas e controle); Controle adaptativo; Derivative estimation; Estimação de derivadas; Levitação magnética; Magnetic levitation; Nonlinear control; Sistemas não-lineares
• Link de acesso: http://www.teses.usp.br/teses/disponiveis/3/3139/tde-27062016-153343/

The subject of this thesis is the real-time implementation of algebraic derivative estimators as observers in nonlinear control of magnetic levitation systems. These estimators are based on operational calculus and implemented as FIR filters, resulting on a feasible real-time implementation. The algebraic method provide a fast, non-asymptotic state estimation. For the magnetic levitation systems, the algebraic estimators may replace the standard asymptotic observers assuring very good performance and robustness. To validate the estimators as observers in closed-loop control, several nonlinear controllers are proposed and implemented in a experimental magnetic levitation prototype. The results show an excellent performance of the proposed control laws together with the algebraic estimators.