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https://hdl.handle.net/20.500.11851/8978| Title: | LQR Control and Observer Design of a Magnetically Suspended Ball | Authors: | Karahan M. Kasnakoglu C. |
Keywords: | LQR control magnetic levitation magnetic variables control observers state feedback voltage control Controllers Differential equations Linear control systems Linearization Magnetic levitation Magnetic variables control MATLAB Nonlinear systems Root loci System stability Voltage control Control design Linear quadratic regulator control Linear quadratic regulator controllers Linearized systems Magnetic variable controls Magnetically suspended MATLAB program Observer Observers designs Root-locus State feedback |
Publisher: | Institute of Electrical and Electronics Engineers Inc. | Abstract: | In this study, the control of an electromagnetically suspended ball with Linear Quadratic Regulator (LQR) controller and the design of the observer are explained. The differential equations of the system were extracted, and the model of the system was created using MATLAB program. The stability of the system was analyzed by plotting the root locus. The controllability and the observability of the system were analyzed. An Observer Based State Feedback Controller has been designed to control magnetically levitated ball. The performance of the system is examined by performing different simulations for the nonlinear system and the linearized system. The simulation results show that the linearized system around a working point performs better than the nonlinear system. © 2022 IEEE. | Description: | 4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2022 -- 9 June 2022 through 11 June 2022 -- -- 180434 | URI: | https://doi.org/10.1109/HORA55278.2022.9800076 https://hdl.handle.net/20.500.11851/8978 |
ISBN: | 9.78167E+12 |
| Appears in Collections: | Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection |
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