中文摘要：

介绍一种新型的磁浮平台，针对该磁浮平台水平运动这一多变量、非线性、强耦合的系统，提出一种改进的自抗扰控制器，克服常规自抗扰控制器非线性状态误差反馈控制律中非线性函数的不平滑性，并探索出一套行之有效的控制器参数整定规则，同时利用扩张状态观测器观测出内部扰动和外部扰动，并对它们进行补偿。仿真对比分析和试验结果表明，这种改进的自抗扰控制器具有很好的动态、静态特性及鲁棒性。

英文摘要：

A novel planar magnetic suspension platform is introduced. In view of the horizontal movement of the magnetic suspension platform being a nonlinear, multivariable and strong coupling system, an improved active disturbance rejection controller （ADRC） is proposed. It can overcome the unsmoothness of non-linear function in nonlinear state error feedback （NLSEF） of conventional ADRC, and a set of effective rules of setting controller parameters is explored. Moreover, the internal disturbance and external disturbance are observed by using the extended state observer （ESO） and then compensated. The results of simulation and experiment indicate that the improved controller has excellent dynamic and static characteristics and robustness.