**Acknowledgements**

The authors would like to be obliged to Motion Control Research Laboratory, Center for Robotics and Automations, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka for providing the laboratory facilities and equipment support.

*xr* reference input *Emax* maximal error

**Author details**

**109**

Shin-Horng Chong\*, Roong-Soon Allan Chan and Norhaslinda Hasim

Universiti Teknikal Malaysia Melaka, Durian Tunggal, Malaysia

\*Address all correspondence to: horng@utem.edu.my

provided the original work is properly cited.

Faculty of Electrical Engineering, Centre for Robotics and Industrial Automation,

© 2021 The Author(s). Licensee IntechOpen. This chapter is distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/ by/3.0), which permits unrestricted use, distribution, and reproduction in any medium,

*Erms* root mean square error

*DOI: http://dx.doi.org/10.5772/intechopen.96769*

*Enhanced Nonlinear PID Controller for Positioning Control of Maglev System*
