Experimental Design and Verification of Extended State Observers for Magnetic Levitation System Based on PSO

Amjad J. Humaidi*
Control and Systems Engineering Department, University of Technology, Iraq, Baghdad



This work presents analysis, design and implementation of two schemes of Extended State Observer (ESO) to estimate the position, velocity and unmeasurable states for magnetic levitation systems, Linear ESO (LESO) and Nonlinear ESO (NESO). The multiplicity of design parameters for both LESO and NESO made it difficult to find appropriate setting of these parameters such that to reach satisfactory performance of observation process.


Particle Swarm Optimization (PSO) technique is used to improve performance of observation process by finding optimal tuned parameters of observer design parameter subjected to specified performance index. Theoretical results of both observers are firstly implemented in the environment of MATLAB/SIMULINK. Then, experimental state estimation of observers is set up based on feedback instrument (33-942S) to verify the simulated results.

Results and Conclusion:

Root Mean Square (RMS) of estimation error has been used as an indicator to assess the performance of observers. The simulated and practical results showed that LESO could give better estimation performance than NESO.

Keywords: Magnetic levitation system, Extended state observer, PSO.

Abstract Information

Identifiers and Pagination:

Year: 2018
Volume: 12
Publisher Item Identifier: EA-TOEEJ-2018-22

Article History:

Received Date: 11/9/2018
Revision Received Date: 20/11/2018
Acceptance Date: 28/11/2018
Electronic publication date: 5/12/2018
Collection year: 2018

© 2018 Amjad J. Humaidi.

open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: https://creativecommons.org/licenses/by/4.0/legalcode. This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

Correspondence: Address correspondence to this author at the Control ad Systems Engineering Department, University of Technology, Iraq-Baghdad; Tel: +964-7901227676; E-mails: 601116@uotechnology.edu.iq; aaaacontrol2010@yahoo.com