Control of Lorentz force-type self-bearing motors with hybrid PID and robust model reference adaptive control scheme

In this paper, a control scheme incorporating PID control and robust model reference adaptive control (RMRAC) is proposed to realize the levitation control of Lorentz force-type self-bearing motors. This proposed hybrid PID-RMRAC control scheme overcomes the inherent drawbacks of both the PID and RMRAC controllers. It is in this manner, that better system stability and control of the rotor vibrational amplitudes are realized. The experiment results indicated that better dynamic response can be realized with the hybrid control scheme as compared to a pure PID scheme.