Robust adaptive regulation of magnetic levitation systems with input quantization and external disturbances

This paper investigates two intricate problems in magnetic levitation systems: the loss of the information during the transmission over a limited communication network channel and the chattering caused by external disturbances. By combining input quantization technique with two infinitesimal smooth functions, we successfully construct a continuous robust adaptive feedback controller which stabilizes the position of the levitated electromagnet at the equilibrium point. Compared with the existing methods, the proposed quantized control strategy not only guarantees the global stability with asymptotic state regulation of the system even if there are external disturbances, but also exhibits better performance than that of traditional PID control. The simulation validates the robustness and effectiveness of the proposed scheme.