Hamiltonian modeling and passive control of magnetic levitation system

In view of the nonlinear characteristic of Magnetic levitation system, applying port-controlled Hamiltonian systems and passivity-based control theory, the modeling and control of Magnetic levitation system is presented. Magnetic levitation was viewed as an energy-transformation device. From the energy-balance relation, the Port Controlled Hamiltonian model of single-degree-freedom Magnetic levitation system was established. Based on the Hamiltonian structure, the passive controller of Magnetic levitation system was designed using the method of interconnection and damping assignment. In the design, the Hamiltonian function was used directly as the storage function, which can assure the precise mathematical form, and the system can achieve the required performance and can bring more definite physical meaning on the condition of satisfying passivity. The simulation results show that the system has rapid response, and strong disturbance attenuation to the variance of load.