Modeling and control of inverted magnetic needle: Energy based nonlinear controller for one degree of freedom system

Kumar, P Suresh; Priyadarshan, H; Simha, M. S Harsha

doi:10.1109/indicon.2016.7839006

Cited by 1 publication

(1 citation statement)

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“…A basic model of 1-D and 2-D inverted magnetic needle systems were derived by considering the uniform external magnetic field and different linear controllers in Kumar et al (2016c,a) and energy-based nonlinear controller performance through simulations was discussed in Kumar et al (2016b, 2017). In this paper, we present the detailed experimental design of 1-D inverted magnetic needle system and its complete mathematical modeling, which includes accurate modeling for the non-uniform external magnetic field and its validation with the measured data.…”

Section: Introductionmentioning

confidence: 99%

Modeling and implementation of 1-D inverted magnetic needle system using a robust sliding mode controller

Kumar

Priyadarshan

Simha

2019

Transactions of the Institute of Measurement and Control

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In this paper, we propose a novel problem in control systems area involving the control of a magnetic needle in the presence of an external magnetic field. A magnetic needle when restricted to rotate about a single axis in an external magnetic field, by pivoting its center will produce a stable and unstable equilibrium. Here, we present the detailed mathematical modeling of the 1-D inverted magnetic needle system and its control in the unstable equilibrium point. We use sliding mode controller (SMC) to achieve the control objectives. The simulation results are validated with the experimental results. For achieving a close match, we consider sensor and actuator nonlinearities. Further, its robust performance is compared with proportional-derivative (PD), proportional-integral-derivative (PID) controllers in the presence of system parameter uncertainty, disturbance, and sensor delay. We also study the effect of change in SMC parameters, proportional and derivative gains on the system performance. It is to be noted that the proposed experimental setup can be extended to a much more general and complex system, both in modeling as well as control design leading to a new benchmark problem in the control system.

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