Model reference based adaptive sliding mode control of magnetic levitation system

This paper proposes a model reference based adaptive sliding mode controller for Maglev system. An adaptive sliding control scheme is designed to achieve the robustness without knowing the limit of upper bound of perturbation. With the use of adaptation law, the unknown bound of perturbation has been successfully adapted to design the adaptive sliding mode control scheme. An additional degree of freedom is achieved with the use of additional integral term in sliding surface improving steady state error. The mathematical analysis and simulation results have been given to shows the effectiveness of proposed theory.