title: Output feedback control of a mechanical system using magnetic levitation.
abstract: This paper presents an application of a nonlinear magnetic levitation system to the problem of efficient active control of mass-spring-damper mechanical systems. An output feedback control scheme is proposed for reference position trajectory tracking tasks on the flexible mechanical system. The electromagnetically actuated system is shown to be a differentially flat nonlinear system. An extended state estimation approach is also proposed to obtain estimates of velocity, acceleration and disturbance signals. The differential flatness structural property of the system is then employed for the synthesis of the controller and the signal estimation approach presented in this work. Some experimental and simulation results are included to show the efficient performance of the control approach and the effective estimation of the unknown signals.
authors.affiliation: Universidad Autónoma Metropolitana, Unidad Azcapotzalco, Departamento de Energía, C.P. 02200 Mexico, D.F., Mexico. Electronic address: fbeltran@azc.uam.mx.
authors.forename: F
authors.initials: F
authors.lastname: Beltran-Carbajal
authors.affiliation: Universidad Panamericana Campus Guadalajara, Prol. Calzada Circunvalación Pte. No. 49, Col. Ciudad Granja, Zapopan, Jalisco C.P. 45010, Mexico. Electronic address: avalder@up.edu.mx.
authors.forename: A
authors.initials: A
authors.lastname: Valderrabano-Gonzalez
authors.affiliation: Universidad Panamericana Campus Guadalajara, Prol. Calzada Circunvalación Pte. No. 49, Col. Ciudad Granja, Zapopan, Jalisco C.P. 45010, Mexico. Electronic address: crosas@up.edu.mx.
authors.forename: J C
authors.initials: JC
authors.lastname: Rosas-Caro
authors.affiliation: Department of Mechatronics and Automation, ITESM Campus Monterrey, C.P. 64849 Monterrey, N.L., Mexico. Electronic address: antonio.favela@itesm.mx.
authors.forename: A
authors.initials: A
authors.lastname: Favela-Contreras
keywords: Magnetic levitation; Mass–spring–damper system; Output feedback control; Signal estimation