Backstepping Sliding Mode Control of Magnetic Levitation System

For the nonlinearity and open-loop instability of the magnetic levitation system,the linear model near the equilibrium point was obtained and a backstepping sliding mode controller with strong robustness to the system uncertainties was designed according to the equation of state of the system.Closed-loop stable control of the magnetic levitation system was realized.The real-time control block diagram of the system was established in the environment of Matlab Simulink.Executable code then was generated via RTW toolbox and the suspension and control of the ball was realized.Experimental results show that the backstepping sliding mode controller realized the stable suspension of the ball and the good dynamic tracking performance was achieved.