| The previous Three Degrees of Freedom control of NASA subscale Mag-Lev system used very crude but real-time computationally efficient model of coil-magnet interactions. The method presented in current work, uses very accurate model without loss of the real-time computational efficiency. The accuracy of the model is experimentally verified. The real-time performances of the 3DOF-controllers based on different models are compared. The results are discussed.; 5DOF control of the system dynamics is achieved in the simulation. The simulation is run for two cases. In the first case controller uses accurate coil-magnet model, and in the second the simple approximation is used. The performances of controllers are compared. The results are discussed. |
