Design of an Insensitive Suspension Control System for a Magnetic Levitation Vehicle.

For a magnetic levitation vehicle, the suspension control system can be designed on the basis of a single suspension magnet. Since the parameters of the system are not known exactly, it is the purpose of this work to design both the controller and the observer so that they are insensitive to parameter variations. For a system with ideal state feedback, a system analysis is carried out using a sensitivity model. A reduction of the sensitivity is achieved by additional feedback of the sensitivity functions. The feedback coefficients are determined by an iterative solution of the algebraic Riccati equation. The sensitivity analysis of the system is carried out using an expanded sensitivity model. The parameter sensitivity of the system increases considerably, and thus the separating property of the observer during parameter deviations is lost. This leads to the design of a parameter-insensitive observer, for which the corresponding conditions and assumptions are given.