Development of a nonlinear linearizing controller using Input-Output / Input-State linearization for implementation in Programmable Logic Controller (PLC)

Abstract

This paper describes the design of a nonlinear linearizing controller based on feedback linearizing method to stabilize a nonlinear magnetic levitation system. The linearized model states are selected through input-state linearization, and the mathematical expression of the linearizing controller is obtained. An additional innovative integral LQR is designed to make the closed-loop system more robust. The closed-loop system is implemented in real-time on an IEC 61499 standardbased programmable logic controller using a new model transformation technique. The closed-loop system is simulated in MATLAB/SIMULINK and TwinCAT 3 real-time environment, and the simulation results obtained on both environments are compared.