**3. Proportional integral-proportional derivative control with feedforward and disturbance compensations (FF PI-PD +** *K***z) control system framework**

This section is devoted to explaining the formulation of FF PI-PD + *K*<sup>z</sup> control approach for the maglev system. Next, the control strategy of FF PI-PD + *K*<sup>z</sup> controller is discussed and followed by the design procedure of the proposed control. Lastly, the stability of the proposed control is examined.

#### **3.1 Control structure**

The block diagram of FF PI-PD + *K*<sup>z</sup> control system for positioning and robust control of 1-DOF maglev system is depicted in **Figure 3**. The feedback loop consists of PI-PD control and disturbance compensation scheme, whereas the feedforward loop contains a model-based feedforward control. The FF PI-PD + *K*<sup>z</sup> control system
