Discrete-time L2 loop-shaping control of a Maglev System using the LPV framework

  • Luiz Benicio Degli Esposte Rosa Instituto Tecnológico de Aeronáutica
  • Renan Lima Pereira Instituto Tecnológico de Aeronáutica
Keywords: Discrete-time LPV systems, L2 loop-shaping control, Magnetic levitation system, LMIs


This paper presents a practical application of discrete-time L2 loop-shaping control to a Maglev system using the linear parameter-varying (LPV) framework. LMI-based conditions are obtained for the synthesis of an output-feedback LPV controller that guarantees robust stability and performance to the closed-loop system. Guidelines to design such controller are given in a simple and transparent manner. In addition, detailed modeling of the didactic plant manufactured by Quanser is carried out and the process of embedding the nonlinear equations into a discretized quasi-LPV (qLPV) model is described. Simulations and experimental results show that the proposed procedure can be an advantageous alternative to handle nonlinear systems in comparison to its linear time-invariant (LTI) version.