Disturbance rejection via iterative learning control with a disturbance observer for active magnetic bearing systems

  • Ze-zhi Tang
  • Yuan-jin Yu
  • Zhen-hong Li
  • Zheng-tao DingEmail author


Although standard iterative learning control (ILC) approaches can achieve perfect tracking for active magnetic bearing (AMB) systems under external disturbances, the disturbances are required to be iteration-invariant. In contrast to existing approaches, we address the tracking control problem of AMB systems under iteration-variant disturbances that are in different channels from the control inputs. A disturbance observer based ILC scheme is proposed that consists of a universal extended state observer (ESO) and a classical ILC law. Using only output feedback, the proposed control approach estimates and attenuates the disturbances in every iteration. The convergence of the closed-loop system is guaranteed by analyzing the contraction behavior of the tracking error. Simulation and comparison studies demonstrate the superior tracking performance of the proposed control approach.

Key words

Active magnetic bearings (AMBs) Iterative learning control (ILC) Disturbance observer 

CLC number

TP27 TH133 


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Copyright information

© Zhejiang University and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.School of Electrical and Electronic EngineeringUniversity of ManchesterManchesterUK
  2. 2.Sino-British Joint Advanced Control System Technology LaboratoryJames Lighthill BuildingManchesterUK

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