Lqr Control and Observer Design of a Magnetically Suspended Ball

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.