Proportional-Integral-Derivative Gain-Scheduling Control of a Magnetic Levitation System


  • Claudia-Adina Bojan-Dragos Politehnica University of Timisoara Department of Automation and Applied Informatics, Bd. V. Parvan 2, 300223 Timisoara
  • Radu-Emil Precup Politehnica University of Timisoara Department of Automation and Applied Informatics, Bd. V. Parvan 2, 300223 Timisoara
  • Marius L. Tomescu Aurel Vlaicu University of Arad Romania, 310330 Arad, Elena Dragoi, 2
  • Stefan Preitl Politehnica University of Timisoara Department of Automation and Applied Informatics, Bd. V. Parvan 2, 300223 Timisoara
  • Oana-Maria Tanasoiu Politehnica University of Timisoara Department of Automation and Applied Informatics, Bd. V. Parvan 2, 300223 Timisoara
  • Stefania Hergane Politehnica University of Timisoara Department of Automation and Applied Informatics Bd. V. Parvan 2, 300223 Timisoara, Romania


gain-scheduling, magnetic levitation system, Proportional-Integral-Derivative control, real-time experiments


The paper presents a gain-scheduling control design procedure for classical Proportional-Integral-Derivative controllers (PID-GS-C) for positioning system. The method is applied to a Magnetic Levitation System with Two Electromagnets (MLS2EM) laboratory equipment, which allows several experimental verifications of the proposed solution. The nonlinear model of MLS2EM is linearized at seven operating points. A state feedback control structure is first designed to stabilize the process. PID control and PID-GS-C structures are next designed to ensure zero steady-state control error and bumpless switching between PID controllers for the linearized models. Real-time experimental results are presented for validation. 


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