Backstepping Based Nonlinear Adaptive Control of Magnetic Levitation System with Unknown Disturbances

摘要

The magnetic ball levitation is a nonlinear system with disturbances. This paper proposes a back stepping Based adaptive controller with strong robustness for the magnetic system. In the design process, we present a parameter-strict-feedback model with complex disturbances and then reversely calculate control variable according to Lyapunov's second method. Barbalat lemma proves global asymptotical stability of the system. Simulation examples are given to illustrate the effectiveness of the control scheme.