Robust Tracking and Model Following Controller based on Sliding Mode: An Experimental Validation with Magnetic Levitation System

This paper presents the design of robust tracking and model following (RTMF) based on sliding mode control (SMC) algorithm for a class of uncertain dynamical system. The proposed RT controller guarantees the asymptotic convergence of error variable between the output of the plant and model. Finally, this strategy is implemented on a magnetic levitation (MagLev) system which is inherently unstable and nonlinear. The simulated as well as the experimentally validated results are added to illustrate the effectiveness of the proposed RTMF controller.