Adaptive robust dynamic surface control for a magnetic levitation system

This paper considers the position tracking problem of a magnetic levitation system in the presence of uncertainties of physical parameters. The dynamic surface control (DSC) technique is modified and applied to the system under study, to overcome the problem of "explosion of terms" associated with the backstepping design procedure. Input-to-state stability (ISS) property is ensured by the robust nonlinear damping terms whereas the ultimate control error bounds are made sufficiently small by the adaptive laws.