Analysis and Synthesis of a Flexible Beam magnetic Suspension System

This paper is concerned with µ-analysis and synthesis of a flexible beam magnetic suspension system. The experimental apparatus utilized in this study is a simplified model of magnetic bearings with an elastic rotor. After introducing the apparatus, a nominal model as well as a set of plant models which accounts for additive model uncertainty, is derived. We then setup robust performance objective as a structured singular value (µ) test. There, for all the possible plant models, the closed-loop system is required to be internally stable, and in addition, the weighted sensitivity is required to satisfy a certain H8 -norm condition. For the design, we make use of an iterative computing environment µ-Analysis and Synthesis Toolbox, where the so-called D-K iteration approach is employed. The designed controller is implemented using a digital signal processor µPD77230. Several experiments are carried out in order to evaluate robust performance of this design. These experimental results show that the closed-loop system achieves robust performance against various real perturbations.