title: Design and implementation of a 2-DOF PID compensation for magnetic levitation systems.
abstract: This paper employs a 2-DOF (degree of freedom) PID controller for compensating a physical magnetic levitation system. It is shown that because of having a feedforward gain in the proposed 2-DOF PID control, the transient performance of the compensated system can be changed in a desired manner unlike the conventional 1-DOF PID control. It is also shown that for a choice of PID parameters, although the theoretical loop robustness is the same for both the compensated systems, in real-time, 2-DOF PID control may provide superior robustness if a suitable choice of the feedforward parameter is made. The results are verified through simulations and experiments.
authors.affiliation: School of Electrical Sciences, Indian Institute of Technology Bhubaneswar, Odisha 751013, India. Electronic address: arun_ghosh1@yahoo.co.in.
authors.forename: Arun
authors.initials: A
authors.lastname: Ghosh
authors.affiliation: Department of Computer Science and Communication, KTH (Royal Institute of Technology), Stockholm, Sweden.
authors.forename: T
authors.initials: T
authors.lastname: Rakesh Krishnan
authors.affiliation: School of Electrical Sciences, Indian Institute of Technology Bhubaneswar, Odisha 751013, India.
authors.forename: Pailla
authors.initials: P
authors.lastname: Tejaswy
authors.affiliation: School of Electrical Sciences, Indian Institute of Technology Bhubaneswar, Odisha 751013, India.
authors.forename: Abhisek
authors.initials: A
authors.lastname: Mandal
authors.affiliation: School of Electrical Sciences, Indian Institute of Technology Bhubaneswar, Odisha 751013, India.
authors.forename: Jatin K
authors.initials: JK
authors.lastname: Pradhan
authors.affiliation: School of Electrical Sciences, Indian Institute of Technology Bhubaneswar, Odisha 751013, India.
authors.forename: Subhakant
authors.initials: S
authors.lastname: Ranasingh
keywords: 1-DOF PID controller; 2-DOF PID controller; MAGLEV