PI-V plus Sliding Mode Based Cascade Control of Magnetic Levitation
Abstract
Magnetic levitation systems are able to provide frictionless,
reliable, fast and economical operations in wide-range
applications. The effectiveness and applicability of these
systems require precise feedback control design. The
position control problem of the magnetic levitation can be
solved with robust current control approaches. A cascade
control approach consisting of PI-velocity plus sliding mode
control (PI-V plus SMC) is designed to render high control
performance and robustness to the magnetic levitation. It
will be shown that the SMC designed for electrical part of
the plant (current controller) is able to eliminate the effects
of the inductance related uncertainties of the
electromagnetic coil of the plant. Experimental results are
provided to validate the efficacy of the approach.
