Algebraic Identification and Robust GPI Controller in Elevator System

In this paper a four floor elevator system as platform for Mechatronics engineering education is presented. The elevator system is proposed as a device to support undergraduate and postgraduate courses such as: dynamic analysis, control engineering, sensors and actuators, and programmable logic controllers. A Proportional Derivative (PD) type controller with trajectory tracking is proposed to carry the passengers (load) between the different floors. Then an algebraic identifier is used to estimate the mass in the elevator car (cabin) that can be applied online to avoid parametric uncertainty in the PD type controller and improve the performance in trajectory tracking task. Also, as an alternative solution, a robust GPI controller is proposed for better performance and minimize the tracking error using only cabin position measurements. Some simulation results are included using an elevator system virtual prototype in MSC Adams View® in co-simulation with Simulink- Matlab®, to illustrate the performance of the algebraic identifier and the controllers proposed.