H control of active magnetic suspension

Rafal P. Jastrzebski, Katja M. Hynynen, Alexander Smirnov

Research output: Contribution to journalArticleScientificpeer-review

52 Citations (Scopus)


A robust control of an active magnetic suspension requires an accurate plant model and proper model uncertainties. Moreover, the selection of control design performance weighting functions is not straightforward. In this paper, the design of a centralized H controller of an active magnetic suspension is considered. Two design approaches are examined: an H loop-shaping control design procedure and a signal-based H control. The tuning of the design performance functions is carried out applying a genetic algorithm. The robust stability of the gain-scheduled H controller is verified in the presence of real parametric and non-parametric frequency-dependent uncertainties. Accurate models of the system and its uncertainties can be obtained using engineering models and frequency response functions of the test-rig. Finally, simulations and experimental results confirm the effectiveness of the signal-based H approach.

Original languageEnglish
Pages (from-to)995-1006
JournalMechanical Systems and Signal Processing
Issue number4
Publication statusPublished - 1 May 2010
MoE publication typeA1 Journal article-refereed


  • Centralized control
  • H control
  • Magnetic levitation
  • Stability


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