withx=[x
1
˙ x
1
]
T
andw=gis consideredasadisturbance.
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