This project is a part of the "Advanced Control" course at the University of Tehran. It aims to control a magnetic levitation system for stabilizing a ball at a desired position. The project consists of two phases. In Phase 1, a model of the magnetic levitation system is developed, and a PID controller is designed. In Phase 2, state-feedback and observer-based controllers are designed to enhance the system's performance.

This section presents the mathematical model of the magnetic levitation system used in the project.

The state-space representation of the system is derived in this section

The system is linearized around its equilibrium points to obtain a linear model that facilitates controller design.

In this section, the transfer function of the linearized system is derived and analyzed.

A proportional-integral-derivative (PID) controller is designed based on the transfer function obtained in the previous section.

This section presents a simulation of the control system in Simulink using the non-linear model of the magnetic levitation system.

In this section, a state-feedback controller is designed based on the state-space model of the system.

The state-feedback controller is enhanced by incorporating an additive disturbance in the system model.

An integral action is added to the state-feedback controller to improve the system's tracking performance.

In this section, an observer-based controller is designed to estimate the system's state variables.

The observer-based controller is optimized using a reduced-order observer.

The control system is simulated in Simulink using the non-linear model of the magnetic levitation system.

• Magnetic Levitation Model
• LQR-based Optimal Tuning of PID Controller for Trajectory Tracking of Magnetic Levitation System
• Control of Magnetic Levitation System Using PID and LQG Controllers
• Magnetic Levitation System Control using PID Controller

Please refer to these links to gain a better understanding of the project's concepts and techniques.