withx=
andw=gis considered as a disturbance.
Theobjective of this paper is to designan anti-windup
adaptivePIDcontrol ofthemagnetic levitationsystem which
hastheoutputy(t) regulatesasetpointr.
B.Error Systemwith Internal Model Filter
Inordertoachievethe controlobjective,wefirst introduce
aninternalmodel filter