Title :
A new approach to a sliding mode controller design for a magnetic levitation system
Author :
Bandal, Vithal S. ; Verneka, Pratik N.
Author_Institution :
Dept. of Electr. Eng., Gov. Coll. of Eng., Pune, India
Abstract :
The problem of precisely controlling the position of a ferromagnetic ball above the ground by levitating it against the force of gravity using an electromagnet is of interest because the magnetic levitation system is open loop unstable and highly nonlinear. We have designed a sliding mode controller based on the concept of a proportional integral switching surface for this application. Furthermore, we have compared the proportional integral sliding mode controller and a feedback linearization controller for their performance in controlling the ball position in the presence of parametric and matched uncertainties. Simulation results show that the proportional integral sliding mode controller is more effective than a feedback linearization controller.
Keywords :
PI control; feedback; ferromagnetic materials; magnetic levitation; magnetic variables control; nonlinear control systems; variable structure systems; ball position control; feedback linearization controller; ferromagnetic ball; magnetic levitation system; matched uncertainty; parametric uncertainty; proportional integral switching surface; sliding mode control; Control systems; Force control; Gravity; Linear feedback control systems; Magnetic levitation; Nonlinear control systems; Open loop systems; Pi control; Proportional control; Sliding mode control; Matched uncertainties; feedback linearization controller; magnetic levitation system; parametric uncertainties; proportional integral sliding mode control (PI-SMC);
Conference_Titel :
Computational Intelligence and Industrial Applications, 2009. PACIIA 2009. Asia-Pacific Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-4606-3
DOI :
10.1109/PACIIA.2009.5406426