Integral backstepping sliding mode control of a magnetic ball suspension system

Abstract

This paper solves the uncertainty of nonlinear system using the backstepping control with sliding function in magnetic ball suspension system. The classical backstepping control is a systematic, methodical recursive nonlinear feedback control method which is fit to design in high order complicated system. A backstepping control and a sliding function are added in design process. The magnetic ball suspension system is employed to validate the proposed controller. The experimental results show that the integral backstepping sliding mode controller is successful solving both the uncertainty of nonlinear system and the steady error of classical backstepping control method.