Design and Real-Time Implementation of Takagi–Sugeno Fuzzy Controller for Magnetic Levitation Ball System

Abstract

An integral state feedback control method based on T-S fuzzy model is proposed for nonlinear and unstable magnetic levitation ball system in this paper. Firstly, the fuzzy model of the magnetic levitation ball is derived from the nonlinear dynamic model by using the sector nonlinearity, and the local controller is designed by using the integral state feedback control. The global controller is constructed by a parallel distributed compensation (PDC) method, and the feedback gain is obtained using a linear matrix inequality (LMI). Finally, the integrated state feedback controller is applied to the position control of the magnetic levitation ball system, and a dSPACE real-time control platform is established for experimental research. The simulation and experiment are performed to prove that the designed controller can levitate the ball stably, and has better control performance.

Keywords

• Magnetic levitation ball system
• T-S fuzzy model
• integral state feedback
• parallel distributed compensation (PDC)
• linear matrix inequality (LMI)
• dSPACE