Document Type


Date of Award


Degree Name

Master of Science in Electrical Engineering - (M.S.)


Electrical and Computer Engineering

First Advisor

Bernard Friedland

Second Advisor

Andrew Ulrich Meyer

Third Advisor

Timothy Nam Chang


A two-axis magnetic suspension system. using linear-potentiometer position sensing and DC solenoids, controlled digitally by a 80386 microcomputer has been built and operated in our laboratory. Control algorithms obtained by combining the full-state feedback control law with two methods of estimating velocities are studied. One method uses a nonlinear reduced-order observer; the other uses a finite difference algorithm. The nonlinear reduced-order observer performs better in simulation but the difference algorithm takes less calculation time and is used in the implementation. The system has been operated successfully to suspend weights up to 1.2 lb. and to get a slant angle more than 10 degrees. Stable operation is achieved at sampling rates as low as 100HZ.



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