Combined control solution for an advanced mechatronics application

A combination of fuzzy control and sliding mode control (FCSMC) dedicated to control a ferromagnetic sphere in magnetic levitation systems is suggested. Since the process is unstable and nonlinear, it is first linearized at several operating points and a stabilizing state feedback control structure (SFCS) is designed. A proportional-integral (PI) sliding mode control (SMC) is next designed such that to control the SFCS. The proportional-integral (PI) controller is finally replaced by a Takagi-Sugeno PI-fuzzy controller in the FCSMC structure. Experimental results are given to prove the performance improvement of the PI SMC structure and the FCSMC structure.

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