Pengendali Servo State Feedback pada Sistem Maglev Berdasarkan Coefficient Diagram Method dengan Feedback Linearization

Magnetic Levitation (MagLev) System is a modern technology that uses an electromagnetic force to levitate an object in the air. This technology is contactless, frictionless, efficient and easy to implement. The characteristic of the system is unstable, fast dynamics and highly nonlinear. Because of that, it is difficult to control and the controller design becomes a challenging task. This research proposed a combination between nonlinear technique and linear controller. Feedback linearization is a nonlinear technique that is used to control the nonlinearity of a magnetic levitation system and servo state feedback as a linear controller to control the position of the object. The challenge of a servo state feedback controller is how to determine the parameter value of integrator and state feedback gains. Coefficient Diagram Method (CDM) is proposed in this research to solve the problem of determining the parameter value. The result of the simulation shows that feedback linearization can cancel the nonlinearity of the system and transform the nonlinear system into the linear system. The simulation also shows that the Servo state feedback controller can eliminate the steady-state error of the system and can control the position of the object. The proposed method, CDM is able to give the parameter value with the balance of response, stability, and robustness of the system. The CDM standard parameter gives good performance with the balance between rising time and overshoot also the faster value of settling time. It proves that CDM can eliminate the trial error method to determine the parameter gain of the controller with the good performance of the system. The uncertainty parameter of inductance and resistance is very affecting in the system even the small change. However, the proposed controller still can handle in some limit. Comparing with another method, CDM has better performance than LQR because CDM has a faster settling time which was 1.06 seconds while LQR dan Pole placement has a settling time 1.47 and 1.51 seconds