Integral sliding-mode control of a magnetically suspended balance beam: Analysis, simulation, and experiment

This paper presents a sliding-mode controller with integral compensation fo r a magnetic suspension balance beam system. The control scheme comprises a n integral controller which is. designed for achieving zero steady-state er ror under step disturbances, and a sliding-mode controller which is designe d for enhancing robustness under plant uncertainties. A procedure is develo ped for determining the coefficients of the switching plane such that the o verall closed-loop system has stable eigenvalues. A proper continuous desig n signal is introduced to overcome the chattering problem. The performance of the balance beam control system is illustrated by simulation and experim ental results which show that the proposed integral sliding-mode controller method is effective under external step disturbances and input channel par ameter variations.