Abstract: “Magnetic levitation has shown its potential in many engineering fields with promising future applications. This paper deals with the asymptotic tracking problem of desired reference position trajectories in an active mechanical suspension system using magnetic levitation foundations. A differential flatness-based output feedback controller is proposed for accomplishing this control objective using only position measurements. The electromagnetic circuit dynamics is considered for design of the control voltage to regulate the position of the mechanical system in accordance with the specified motion planning. A robust observer is also presented for real-time estimation of the unavailable signals of acceleration and velocity. The electric current is algebraically reconstructed through the estimated signals. The efficient performance of the proposed observer-control scheme is verified by computer simulation.”

Keywords: Active mechanical suspension, Magnetic levitation, Differential flatness, Observer