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The structure consists of a nominal controller, a residual generator, and a dynamic compensator. The controller structure can further improve the anti-disturbance and robustness of the electromagnetic levitation system on the premise of ensuring the stability and reliability. Considering the generality of electromagnetic levitation system, the proportional\u2013integral\u2013derivative (PID) controller is selected as the nominal controller, and the robustness of the system is improved by the dynamic compensator based on the residual generator. The parameter design and update strategy of dynamic compensator based on gradient estimator are proposed, and the expression of gradient estimator is designed and deduced. Taking the single-degree-freedom electromagnetic levitation experimental platform as an example, the simulation and experimental results show that the structure has strong robustness to shock disturbances. Compared with the PID controller, the range of the gap fluctuation is smaller after the instantaneous impact interference, and the anti-interference capability of the electromagnetic levitation system is improved.<\/jats:p>","DOI":"10.1177\/01423312231167459","type":"journal-article","created":{"date-parts":[[2023,5,10]],"date-time":"2023-05-10T14:46:40Z","timestamp":1683730000000},"page":"3238-3246","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Performance optimization of electromagnetic levitation system based on gradient estimator"],"prefix":"10.1177","volume":"45","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2490-5213","authenticated-orcid":false,"given":"Xu","family":"Zhou","sequence":"first","affiliation":[{"name":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, 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