An integral sliding mode control for the magnetic levitation system based on backstepping approach

Abstract

Abstract Due to their reduced maintenance costs, increased power efficiency and reduced power consumption, the Magnetic Levitation (Maglev) system make a significant contribution to the industrial application. Maglev’s production of electricity (e.g. wind turbines), maglev trains and medical devices (e.g. artificial heart pump magnetically suspended) are typical applications. This paper suggests designing a nonlinear control for the Maglev system model which represented by a third-order model consists of the mechanical (ball position and velocity) and electrical (the current) subsystems. The controller is designed utilizing the Integral Sliding Mode Control (ISMC) and based on the Backstepping approach. The tracking accuracy of the ball position to the desired reference is determined by computing the ultimate boundedness as a function to the controller parameters and that using the Lyapunov function. The numerical simulation results showed the robustness and the efficiency of the proposed controller where the tracking error limited by the computed bound.