Super-Twisting-Observer-Based Equivalent-Input-Disturbance Compensation Suspension Control of Medium-Low Speed Maglev

This paper presents an easily implementable disturbance compensation suspension control method for the medium-low speed maglev suspension system. The impact of state observation accuracy on EID estimation is firstly examined, suggesting that accurate state observation is crucial for estimating EID. Building upon this foundation, a super-twisting-observer-based EID (STO-EID) estimation method is proposed by incorporating the super-twisting observer (STO) and EID estimation. The stability of both the STO and the overall control system is demonstrated using Lyapunov's method. Finally, simulations and experiments are performed to assess the performance and effectiveness of the proposed STO-EID method in comparison to the conventional sliding mode observer EID method and the linear quadratic Gaussian method, showing superior results.