Optimal Derivative Feedback Control for an Active Magnetic Levitation System: An Experimental Study on Data-Driven Approaches
Fuente:
arXiv
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866908818146852864 |
|---|---|
| author | Omidi, Saber Ebunle, Rene Akupan Yoon, Se Young |
| author_facet | Omidi, Saber Ebunle, Rene Akupan Yoon, Se Young |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_06944 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Optimal Derivative Feedback Control for an Active Magnetic Levitation System: An Experimental Study on Data-Driven Approaches Omidi, Saber Ebunle, Rene Akupan Yoon, Se Young Systems and Control Machine Learning 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. |
| title | Optimal Derivative Feedback Control for an Active Magnetic Levitation System: An Experimental Study on Data-Driven Approaches |
| topic | Systems and Control Machine Learning |
| url | https://arxiv.org/abs/2602.06944 |