It is a simplification of the Maglev system (Magnetic Levitation Vehicle).
There are 3 quations for:
verical displacement (levitation - Z variable ),
latteral displacement (guidance - X variable),
current (I - varaiable)
also addidtional varaible V voltage:
Z'' = k*(I^2)* [-(d-X)/(Z^2) - (4*X)/(4*Z^2 + pi*Z*X) ]/M + g - (f*Z')/M
X'' = k*(I^2)* [-1/Z + 4/(4*Z + pi*X) ]/M - (f*X')/M
where: p, k, d, f, M, g, pi, R are constants
Input to the system is a voltage, output is a gap Z, also X latteral
displacemnet is the output but at this state of my work the most important
is to keep only constant gap Z_ref=0.01 m.
I did some work linearizng above equations around operation point
(I0,Z0,X0), and I applied PID controller to control the gap - works pretty
good. Unfortunatelly its not enough my professor wants more !!! :). There
are many sources which tells you about Lyapunov stability but it is really
hard to find such to explain exactly how to assume candidate functions.
According to your message I guess that current is my quadratic term of
energy k*I^2/M, but what about X and Z ??? and what about the expresion for
relation between current and voltage ??
Thank yor for your intrest
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