Variable cut-off frequency algorithm-based nonlinear position controller for magnetic levitation system applications

Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


In this article, the position-tracking problem for magnetic levitation (MAGLEV) systems is addressed by handling the model nonlinearities and uncertainties of parameters and loads. The first feature is devising a variable cut-off frequency algorithm enhancing the transient tracking performance by updating the feedback gain accordingly. The second is introducing the disturbance observer (DOB) improving the disturbance attenuation performance with the offset-free property, which corresponds to the replacement of tracking error integrators. The simulation results numerically demonstrate the effectiveness of the proposed technique considering model-plant mismatches and load variations.

Original languageEnglish
Article number8867963
Pages (from-to)4599-4605
Number of pages7
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number7
Publication statusPublished - 2021 Jul

Bibliographical note

Funding Information:
Manuscript received February 24, 2019; revised July 11, 2019; accepted September 25, 2019. Date of publication October 14, 2019; date of current version June 16, 2021. This work was supported in part by the Development of Hybrid Electric Vehicle Conversion Kit for Diesel Delivery Trucks and Its Commercialization for Parcel Services from the Transportation and Logistics Research Program funded by the Ministry of Land, Infrastructure and Transport of Korean Government under Grant 17TLRP-C135446-01, and in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This article was recommended by Associate Editor R. Cui. (Corresponding author: Choon Ki Ahn.) S.-K. Kim is with the Department of Creative Convergence Engineering, Hanbat National University, Daejeon 341-58, South Korea (e-mail:

Publisher Copyright:
© 2013 IEEE.


  • Disturbance observer (DOB)
  • magnetic levitation (MAGLEV)
  • stability
  • variable cut-off frequency

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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