An optimised 2-DOF IMC-PID-based control scheme for real-time magnetic levitation system

This paper addresses an optimised 2-DOF internal model-based PID controller for unstable magnetic levitation system. Here, the proposed controller is realised using IMC control theory and its parameter are calculated using Maclaurin series expansion. Particle swarm optimisation (PSO) algorithm is used for obtaining an optimised 2-DOF IMC-PID controller. The proposed method is simpler to use due to its explicit tuning method as compared to other frequency response methods. The real-time experimental results are given, illustrating the effectiveness of proposed controller. The suggested controller not only improves the transient and tracking response but also maintains the robustness of maglev system under various disturbance environments. The performance of the proposed controller is compared with conventional PID controller.