Backstepping Control of a Magnetic Levitation System Using PSO

Yeabisra Wubishet ENGDA¹, Gang Gyoo JIN², Yung-Deug SON³*
¹ Department of Electrical Engineering, Dilla University, P.O. Box 419, Dilla, Ethiopia
wubyab@gmail.com
² Department of Electrical Power and Control Engineering, Adama Science and Technology University,
P.O. Box 1888, Adama, Ethiopia
gjin30@gmail.com
³ Department of Mechanical Facility Control Engineering, Korea University of Technology and Education,
1600 Chungjeol-ro, Dongnam-gu, Cheonan, Chungnam, 31253, Korea
ydson@koreatech.ac.kr (*Corresponding author)

Abstract: Magnetic levitation systems are highly nonlinear and unstable systems and their efficacy depends on a well-designed controller for stabilizing the system and for tracking the desired reference signal. This work focuses on the design of a backstepping controller for a magnetic levitation (maglev) system under parameter uncertainty which is load variation. The mathematical model is obtained and the stable controller is designed based on this model and Lyapunov’s theorem. Then, the controller parameters are optimally tuned by minimizing the integral of absolute error and control deviation performance criterion using the particle swarm optimization (PSO) algorithm. For comparison purposes, a Proportional-Integral (PI)- type linear quadratic regulator is also designed. A set of simulation works are carried out in order to verify both the tracking performance and the robustness against disturbance for the proposed controller.

Keywords: Magnetic levitation system, Backstepping control, PSO, PI-type linear quadratic regulator.

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CITE THIS PAPER AS:
Yeabisra Wubishet ENGDA, Gang Gyoo JIN, Yung-Deug SON, Backstepping Control of a Magnetic Levitation System Using PSO, Studies in Informatics and Control, ISSN 1220-1766, vol. 32(3), pp. 57-65, 2023. https://doi.org/10.24846/v32i3y202305