A MaglevSystem: Modeling andController Design

Inthispaper, thenonlinear mathematical model withfiveDOFs(degrees-of-freedom) ofa magnetic levitation system isdeveloped andanalyzed. Thenasecond ordersliding modecontroller isproposed toregulate thelevitation toadesired position, stabilize theother 4DOFsinthenonlinear system and compensate theunknownincrements ontheload. Simulation results arepresented toshowtheeffectiveness oftheproposed controller. I.INTRODUCTION Thisapproach hasthemainadvantages ofthestandard sliding modecontrol technique, thechattering effect iseliminated and ahighorder precision isprovided. Inthis paperthekindofmaglevsystemisarepulsive one,using anarrangement ofapermanent magnetlevitated above anelectromagnet. Thecontrol design proposed hereis based onSOSM control technique forthenonlinear maglev mathematical model; this controller isrobust whendifferent loads areputonthecarrier andguarantees stabilization and precision positioning. Theorganization ofthis paperisasfollows. Insection II, themaglev system isdescribed, somemagnetics formulas will bereviewed andthemathematical modelisobtained. In section IIIaSOSMcontroller isdesigned using thenonlinear system obtained. Section IVpresents numerical simulations results thatshowtherobustness ofthecontroller designed. Finally conclusions aregiven insection V.