H∞ Control and Sliding Mode Control of Magnetic Levitation System

Abstract

ABSTRACT In this paper, H∞ disturbance attenuation control and sliding mode disturbance estimation and compensation control of a magnetic levitation system are studied. A magnetic levitation apparatus is established, and its model is measured. Then the system model is feedback linearized. A H∞ controller is then designed. For comparison, a sliding mode controller and a PID controller also were designed. Some experiments were performed to compare the performance of the H∞ controller, the sliding mode controller and the PID controller.