DocumentCode :
3282185
Title :
Design of a discrete-time sliding mode controller for a magnetic levitation system using multirate output feedback
Author :
Bandal, V.S. ; Vernekar, P.N.
Author_Institution :
Dept. of Electr. Eng., Govt. Coll. of Eng., Pune, India
fYear :
2010
fDate :
June 30 2010-July 2 2010
Firstpage :
4289
Lastpage :
4294
Abstract :
The advent of highly efficient and superior digital computers and microprocessors in controller implementation has led to a significant interest in the field of discrete time controller design. Design of a discrete time sliding mode controller for a magnetic levitation system based on a multirate output feedback strategy is presented. The control objective is to precisely stabilize the position of a ferromagnetic ball above the ground by levitating it against the force of gravity using an electromagnet. For this application, we designed a discrete time sliding mode controller using the equivalent discrete time reaching law. Furthermore, we developed a new formulation on discrete time sliding mode control using multirate output feedback for this application, guaranteeing a system response close to that obtained through implementation of a continuous time sliding mode control. Simulation results show that for a magnetic levitation system the later, multirate output feedback based discrete time sliding mode controller is more robust than the former, discrete time sliding mode controller. Also, the phenomenon of chattering present in practical continuous time sliding mode controllers is significantly reduced in the discrete time counterparts.
Keywords :
feedback; magnetic levitation; variable structure systems; continuous time sliding mode control; control objective; digital computers; discrete time sliding mode controller design; electromagnet; ferromagnetic ball position; magnetic levitation system; microprocessors; multirate output feedback strategy; Control systems; Linearization techniques; Magnetic levitation; Magnetic variables control; Microprocessors; Output feedback; Robust control; Sampling methods; Sliding mode control; Velocity control; Discrete-time sliding mode control (DSMC); magnetic levitation system; multirate output feedback (MROF); quasi-sliding mode (QSM); sliding mode control (SMC);
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
ISSN :
0743-1619
Print_ISBN :
978-1-4244-7426-4
Type :
conf
DOI :
10.1109/ACC.2010.5530812
Filename :
5530812
Link To Document :
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