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This paper is concerned with the synthesis of a robust and optimal controller for open-loop unstable systems possessing actuator redundancy. The designed linear quadratic state feedback regulator can maintain the close-loop stability in the presence of some certain actuator failures. At the first design stage, a discriminance of actuator functional redundancy is given, which is the precondition to design the robust controller. Then a synthesis method based on a sufficient condition which guarantees the existence of the state-feedback fault-tolerant law is presented. The robust Linear Quadratic (LQ) regulator synthesis is shown to be equivalent to a standard LQ regulator design with a given dynamic performance index of the system. The effectiveness of this method has been verified on the fault control system design for the double electromagnets suspension model of maglev train.Index Terms -optimal control, linear quadratic regulator, state feedback, actuator failure, maglev train.

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To improve the performance of the guidance system, the key system of maglev train, a force feedback controlling method is researched. First of all, the model of the guidance system on EMS high speed maglev train is set up, and the classical designing method is introduced. Then, in order to improve the dynamic stiffness of the guidance system, a new controlling method by the combination between force feedback and gap feedback is put forward. The force feedback is used to meet the rapid change of disturbance; meanwhile, the gap feedback is used to meet the gap change. Through simulation, this controlling strategy is proved to be right and very effective to ensure guidance system's good and stable operation.

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