Nonlinear Control Design of a Planar Magnetic Levitation System

The goal is to stabilize the disk at some position when the disk is initialized at some initial point. It's a very challenging control problem because the system is both nonlinear, coupled and has squared control inputs. Further, modeling uncertainties must be taken into account. The implementation of a prototype of the device had its own problems associated with it - namely measuring the position of the disk in a cost-effective manner and modeling the electromagnets. For more information contact me at [email protected] .