Adaptive Fast Terminal Sliding Mode Control of Magnetic Levitation System

Abstract

Adaptive sliding mode control schemes are proposed for the control problem of a magnetic levitation system. Two control laws based on sliding mode concepts are developed to deal with this problem. For the first controller, an adaptive sliding mode controller is designed to control a magnetic levitation system. The other controller is also developed by combining a fast terminal sliding mode control method with an adaptive technique. Both controllers can guarantee finite-time reachability of a given desired position of a magnetic levitation system. The stability of the controlled system under presented controllers is proved by using the Lyapunov stability theorem. An example of a magnetic levitation system is given and simulation results are included to verify the performance of the proposed controllers.