Investigation on the application of flatness-based feedback linearization to the magnetic levitation model of INTECOTm Maglev system is presented in this paper. The MAGLEV system dynamics studied consists of a set of third order nonlinear differential equations. Using computational techniques proposed by Levine, it is verified that the ball position is the flat output. The derived flat output is applied in the construction of a nonlinear control law used to control the levitation to a set point as well as tracking a sine function trajectory. The controller gains are obtained and optimized using particle swarm optimization. The simulation results compared very well with the default PID control. Real-time and non real-time simulation using the MATLAB/ SIMULINK real workshop environment is presented.

Meeting Name

IEEE Industry Applications Society Annual Meeting, 2010. IAS '10


Electrical and Computer Engineering


National Science Foundation (U.S.)

Keywords and Phrases

Feedback Linearization; Flat Output; Flatness; Magnetic Levitation; Particle Swarm Optimization

Document Type

Article - Conference proceedings

Document Version

Final Version

File Type





© 2010 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Oct 2010