sliding mode control of a magnetic levitation system磁悬浮系统的滑模控制.pdf

SLIDING MODE CONTROL OF A MAGNETIC LEVITATION SYSTEM N. F. AL-MUTHAIRI AND M. ZRIBI Received 18 October 2003 and in revised form 23 February 2004 Sliding mode control schemes of the static and dynamic types are proposed for the con- trol of a magnetic levitation system. The proposed controllers guarantee the asymptotic regulation of the states of the system to their desired values. Simulation results of the proposed controllers are given to illustrate the effectiveness of them. Robustness of the control schemes to changes in the parameters of the system is also investigated. 1. Introduction Magnetic levitation systems have practical importance in many engineering systems such as in high-speed maglev passenger trains, frictionless bearings, levitation of wind tunnel models, vibration isolation of sensitive machinery, levitation of molten metal in induc- tion furnaces, and levitation of metal slabs during manufacturing. The maglev systems can be classified as attractive systems or repulsive systems based on the source of levi- tation forces. These kind of systems are usually open-loop unstable and are described by highly nonlinear differential equations which present additional difficulties in controlling these systems. Therefore, it is an important task to construct high-performance feedback controllers for regulating the position of the levitated object. In recent years, a lot of works have been reported in the literature for controlling mag- netic levitation systems. The feedback linearization technique has been used to design control laws for magnetic levitation systems [2, 9, 30]. The input-output, input-state, and exact linearization techniques have been used to develop nonlinear controllers [6, 11, 38]. Other types of nonlinear controllers based on nonlinear methods have been reported in the literature [14, 18, 35, 40]. Robust linear controller methods such as H∞ optimal control, µ-synthesis, and Q-parameterization have