IMC Controller Design For Magnetic Levitation Ball System

An IMC-controller is designed for nonlinear-unstable magnetic levitation ball system. A linear model is established by physical analysis way. A PD controller is used to make the system to be stable with consideration of the unstable identity,then an IMC controller is designed and transformed into an IMC-PID controller for the nominal stable system. Comparing with the control effect of IMC-PID controller with the PID controller,the IMC-PID controller has better control performance and robust. The IMC-controller was used in the real-time control,and the result demonstrated that the proposed method is effective.