Design of an EP-based fuzzy sliding-mode control for a magnetic ball suspension system

In this paper, an evolutionary programming (EP) based fuzzy sliding-mode control (FSMC) is proposed for a magnetic ball suspension system. Firstly, we apply a singular perturbation method to examine a nonlinear model proposed for the magnetic ball suspension system. Secondly, we address design methods of sliding-mode control (SMC), FSMC, and dynamic FSMC. We utilize the EP to adjust scaling factors of the input and output variables for the FSMC. Global asymptotic stability of the EP-based FSMC is confirmed by the Lyapunov stability theory. Finally, simulations on the magnetic ball suspension system are given to show the tracking performances of the proposed control structure.