Servo design for a high stiffness linear repulsive magnetic-levitation bearing

This paper presents the servo design of a high stiffness linear repulsive magnetic-levitation (Maglev) bearing. The maglev bearing is a highly nonlinear system with very serious parameter uncertainties. Most existing literatures have discussed the system stability while very few results have talked about the rigidity of the bearing. This paper proposes an adaptive sliding mode controller via input-output feedback linearization (IOFL) process to overcome these difficulties. The system uncertainties are analyzed and a stability proof is presented. A systematic design procedure is then presented. Comparison among the existing experimental results show that the proposed control has a better performance