Feedback Linearization Based Robust Integral Optimal Sliding Mode Control of Electromagnetic Levitation System

In this article, the robust control of an electromagnetic levitation system using an integral optimal sliding mode control technique is proposed. The feedback linearization technique is developed to obtain the linearized controllable model. The linearized model is used to design optimal controller gain with a linear quadratic regulator using the algebraic Riccati equation. The main goal of the proposed technique is to keep the levitated object in the desired position while removing the chattering effect on the control input. Stability proof of the designed control scheme is developed using Lyapunov's method. The simulation experiments validate the proposed technique's robustness. The presented work also elaborates on the comparison of sliding mode control with integral optimal control and proves the robustness of the proposed controller.