Modeling and Decoupled SlidingMode Control ofMaglev TrainModule

A moduleisthebasic control unitofEMS (electromagnetic suspension) typelowspeedmaglevtrain. The dynamic modelofmodulesuspension system, anonlinear MIMO coupling system,isdeveloped by usingLagrange-Maxwell formulation intermsofenergy. Themodulesuspension system contains significant parameteruncertainties, unmodelling dynamics andmotional coupling. Soa decoupled sliding mode controller, designed by themethodofcontrol hierarchy, is employed. The simulation results showthattheproposed controller hasstrongrobustness andcaneffectually solvethe coupling problem ofthemodulesuspension system. Keywords-module suspension system, modeling, decoupled sliding modecontrol, robustness