Design of optimal position/force/power-saving magLev control system of helical motor considering complementary sensitivity function

Helical motor has high thrust density and back drivability. In the previous studies, the simultaneous design of position and power-saving magnetic levitation control was extended to the reaction force control with maintaining the performance of the power-saving magnetic levitation control. This paper proposes combining a state observer to the optimal position and levitation control system. In this paper, it evaluates the complementary sensitivity function of the conventional and proposed methods. Then, it validate the performance on the numerical simulations. When the angular frequency of the observation noise due to pseudo derivative is larger than the band of the state observer, the effect of the noise can be suppressed with maintaining the performance of the position tracking characteristics.