Optimal Derivative Feedback Control for an Active Magnetic Levitation System: An Experimental Study on Data-Driven Approaches

TL;DR

This study compares data-driven direct and indirect optimal derivative feedback controllers for magnetic levitation, demonstrating the superiority of the direct, model-free approach with iterative data collection and refinement.

Contribution

Introduces a novel epoch-based policy iteration method for direct data-driven control, outperforming model-based approaches in magnetic levitation systems.

Findings

Direct approach outperforms indirect control with multiple epochs

Iterative data collection reduces learning biases

Both controllers stabilize the system better than nominal models

Abstract

This paper presents the design and implementation of data-driven optimal derivative feedback controllers for an active magnetic levitation system. A direct, model-free control design method based on the reinforcement learning framework is compared with an indirect optimal control design derived from a numerically identified mathematical model of the system. For the direct model-free approach, a policy iteration procedure is proposed, which adds an iteration layer called the epoch loop to gather multiple sets of process data, providing a more diverse dataset and helping reduce learning biases. This direct control design method is evaluated against a comparable optimal control solution designed from a plant model obtained through the combined Dynamic Mode Decomposition with Control (DMDc) and Prediction Error Minimization (PEM) system identification. Results show that while both controllers can stabilize and improve the performance of the magnetic levitation system when compared to controllers designed from a nominal model, the direct model-free approach consistently outperforms the indirect solution when multiple epochs are allowed. The iterative refinement of the optimal control law over the epoch loop provides the direct approach a clear advantage over the indirect method, which relies on a single set of system data to determine the identified model and control.