A New Robust Tracking Control Method of Magnetic Levitation Systems with Finite-Time Convergence Guarantee

Abstract

In this paper, a new, robust control of magnetic levitation systems (MLSs) is introduced. The control proposal is developed based on non-singular fast terminal sliding mode control (NFTSMC) and finite-time control theory. Consequently, the proposed system achieves high tracking accuracy, robustness against uncertain dynamics and exterior disturbances, and fast convergence in finite-time. The providence of the stability and finite-time convergence of the control proposal has been proved by the Lyapunov principle. To verify the effectiveness of the control proposal, the experiments are performed for trajectory tracking control of a magnetic levitation system (MLS).