Abstruct-Unbalance of magnetically levitated rotors causes undesirable synchronous vibrations which may lead to saturation of the magnetic actuator. To avoid this problem we propose a generalized narrow-band notch filter which is inserted into the multivariable feedback without destabilizing the closed loop. The parameters of the generalized notch filter strongly depend on the inverse sensitivity matrix evaluated at rotational speed. This matrix is easily measured a priori and stored in a look-up table. It is shown that a decentralized notch is feasible for weakly gyroscopic rotors. The proposed notch filter approach has advantages in terms of runtime complexity and analytical verification of closedloop stability. Results from the implementation of the proposed unbalance compensation in industrial magnetic bearing systems NOMENCLATURE Complex unit J-7.Vector of unbalance compensation signals.Vector of filtered sensor signals. Vector of sensor signals (displacement). Vector of synchronous unbalance forces. Rotational speed, notch center frequency. Complex frequency variables. Real parameter matrices of the notch filter.Complex notch parameter matrixTR + jT J .

Abstruct-Active magnetic bearings (AMB's) are an example for industrial applications of digital signal processors (DSP's). The complex control functions involved include multichannel control in a delay-time sensitive system. DSP's are well suited for this challenging application. Hardware and software issues are discussed. Unbalance compensation and other additional functions of the controller are presented. An industrial milling spindle with AMB's and DSP control is discussed in detail. A section on AMB research projects with DSP control indicates future trends.

A predictive optimal control system for micro-cogeneration in domestic applications has been developed. This system aims at integrating stochastic inhabitant behavior and meteorological conditions as well as modeling imprecisions, while defining operation strategies that maximize the efficiency of the system taking into account the performances, the storage capacities and the electricity market opportunities. Numerical data of an average single family house has been taken as case study. The predictive optimal controller uses mixed integer and linear programming where energy conversion and energy services models are defined as a set of linear constraints. Integer variables model start-up and shut down operations as well as the load dependent efficiency of the cogeneration unit. This control system has been validated using more complex building and technology models to asses model inaccuracies and typical demand profiles for stochastic factors. The system is evaluated in the perspective of its usage in Virtual Power Plants applications.

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In this paper, the robust controller design for a 3 MW boiler feed pump is presented. The dynamics of this pump are discussed, and a systematic way for transforming the robustness and performance requirements to the pSynthesis setting is described. As the core of the paper, a new theorem for determining suitable uncertainty weighting functions for MIMO-problems is presented and applied to the AMB pump. The controller designed on this basis proves to meet the specifications. Outlet Inlet Balance Pist als ! p I