Optimize Magnetic Levitation System Performance Based on LQR Controller and High-Gain Observer

Aiming at the performance optimization problem of single-arm maglev control system, a LQR controller was designed and a hierarchical optimization strategy was proposed. Firstly the controller parameters was optimized by adjusting the Q matrix on the condition of system stability, in which ITAE index was adopted as the cost function in the transient response transition stage of the system. Secondly the parameters of the high-gain observer were optimized by using the IAE criterion in the steady-state stage. Simulation and experimental results show that the proposed method can have desirable response time and steady-state accuracy of the system with the constraint of input saturation under sensor noise.