The exponential reaching law sliding mode control of magnetic levitation system

The magnetic levitation ball system has nonlinear and open loop instability. The model was linearized near the equilibrium point and the exponential reaching law sliding mode controller was designed according to the state equations of the system in this paper. The stability of the system was analyzed by using Lyapunov stability theory. The experiment was carried on magnetic levitation ball system device. The results show that using the exponential reaching law sliding mode control can make the magnetic levitation ball with small deviations in the vicinity of a given location, and the system has good tracking performance.