Nonlinear Control for an Uncertain Magnetic Ball Levitation System Via Super-Twisting Algorithm

In This paper, we propose a nonlinear control for an uncertain magnetic ball levitation system. We address the design schemes of sliding mode control. Because of existence extreme nonlinearity behaviour and chattering problem we design a second order sliding mode controller with super-twisting algorithm to solve this problem. Numerical simulations are presented in this paper to evaluate the analysis and effectiveness of the controller. The proposed controllers guarantee the asymptotic regulation and stability of the states of the system to their desired values. Robustness of the control schemes to changes in the parameters of the system is also investigated

Keywords:

magnetic levitation system , high order sliding mode control , super-twisting algorithm , uncertaitity