Optimal Multi-objective Robust Controller Design for Magnetic Levitation System


Abstract- In this work, the design of three types of robust controllers is presented to control the magnetic levitation system. These controllers are: basic H∞ controller, robust Genetic Algorithm (GA) based PID (GAPID) controller and robust Particle Swarm Optimization (PSO) based PID (PSOPID) controller. In the second and third controllers, the GA and PSO methods are used to tune the parameters of PID controller subject to multi-objective cost function (H∞ constraints and time domain specifications). The use of GA and PSO methods is used to simplify the design procedure and to overcome the difficulty of the resulting high order controller of the basic H∞ controller. The ability of the proposed controllers in compensating the system with a wide range of system parameters change is demonstrated by simulation using MATLAB 7.14.