Decentralized PID Control Design for Magnetic Levitation Systems Using Extremum Seeking

Abstract

A decentralized proportional-integral-differential (PID) control structure has been always the first option for magnetic levitation systems due to its model-free nature as well as the simplicity. It is very challenging to tune PID parameters for each suspension point to ensure that the closed-loop system is less sensitive to uncertainties/disturbances. Even though, by a large number of experiments, a reasonably good PID control parameter set can be obtained to levitate a single suspension point for a given set point, these parameters are very sensitive when the set point changes or the decentralized PID controller is applied to the half bogie where coupling exists, strong oscillations will b..