Robust Observer-Based Optimal Linear Quadratic Tracker For Five-Degree-Of-Freedom Sampled-Data Active Magnetic Bearing System

This paper presents three observer/Kalman filter identification (OKID) approaches and develops a robust observer-based optimal linear quadratic digital tracker (LQDT) for the five-degree-of-freedom (five-DOF) sampled-data active magnetic bearing (AMB) system with various disturbances. The more detailed objectives are: (i) to construct both an equivalent linear time-invariant discrete-time model and its state estimator via the proposed OKID approaches for the AMB system, which might be an unknown nonlinear time-varying unstable system with both a specified rotation speed and a sampling rate; (ii) to provide an adaptive disturbance estimation scheme, which establishes an equivalent input disturbance (EID) estimator for the AMB system with unexpected disturbances; and (iii) to develop a robust observer-based optimal LQDT for the sampled-data AMB system with both a pre-specified time-varying speed and unexpected disturbances. The developed LQDT is able to recover the displacement of the rotor to the pre-specified trajectory position whenever it deviates from such trajectory.