Hybrid Nonlinear Robust Control for Magnetically Supported Flexible Beam

This paper describes a design and simulation study for nolinear robust control to a magnetic levitation system on a flexible beam. The beam investigated here is supposed so flexible that the gravitation causes noticeable static deflection. An unified dynamic model including static modes is induced an d then an exactly linearized state equation system is derived by utilizing the feedback linearization technique. H2 / Hoc robust control system is applied to the linearized systems to compensate the modelling error. A simulatioon result proves the effectiveness of the proposed design method.