Multi-rate optimal controller design for electromagnetic suspension systems via linear matrix inequality optimization

Abstract

This paper develops a discrete optimal control based on the multi-rate observer method for electromagnetic suspension systems in order to levitate the vehicle, maintaining the desired gap. The proposed multi-rate compensator consists of two parts which are the discrete Kalman filter and the optimal control law. The Kalman filter estimates all states with fast sampling rate time, using a slowly measured output from the gap sensor. The optimal control law is determined by linear matrix inequality optimization for the discrete time multiple input system obtained by the lifting operator. The proposed multi-rate controller has the advantages to guarantee the stability of the slow-rate optimal control and maintain the performance of fast-rate control. The simulation and experiment show the effectiveness of the proposed control method.