Implementation for a Magnetic Levitation System: Embedded Parametric Estimation and Control

This paper presents a repulsion system of magnetic levitation of one degree of freedom for masses with magnetic properties. The physical implementation and its parametric estimation are performed. The raw data taken from sensors are used first in order to estimate the parameters, then, the kalman Filter is used to improve their estimation. These two estimations have been made in the microcontroller. The system control is made using a microcontroller and also with a communication between the microcontroller and Matlab, in order to show the differences between both. Two types of control are implemented (First and higher order sliding modes).