Integral sliding mode control with integral switching gain for magnetic levitation apparatus

This paper presents an integral sliding mode control method with integral switching gain for the position trajectory of magnetic levitation apparatus. The magnetic levitation system is open loop instable, and it is a nonlinear dynamic system in nature. Many kinds controllers are proposed to face this challenge. Those controllers shall be robust enough to overcome the variations of system parameters and external disturbances, this is especially important in engineering applications. In this paper, a magnetic levitation system is firstly modeled. After that, an integral sliding mode controller with integral switching gain is proposed, the integral sliding mode control can guarantee the robustness to variations of system parameters and external disturbances, the integral switching gain can reduce the chattering obviously. Both the simulation results and the experimental results confirm the effectiveness of the controller.