Robust Adaptive Intelligent Controller Design for Magnetic Levitation System with Time Delay, Uncertainty and External Disturbance

Today, the magnetic levitation system is widely used in various industries. This system is inherently unstable and nonlinear, which is presented by nonlinear equations. On the other hand, the existence of a time delay in these systems also causes system instability or even chaos, which creates additional problems in their control, thus requiring the design of robust and optimal control. In this paper, a robust adaptive intelligent controller based on the backstepping-sliding mode is proposed for the stability and proper tracking of the magnetic levitation system in the presence of time delay, uncertainty, and external disturbances. Due to changes in the equilibrium point, comparative control is used to update the system's momentary information and intelligent controller to estimate uncertainties and disturbances and non-linearity of the system. A robust controller is used to asymptomatic stabilize the Maglev system. The Lyapunov stability theory is used to analyze the stability of the magnetic levitation system with the proposed controller. In the end, in order to demonstrate the performance of the proposed controller, numerical simulations have been used in MATLAB software. The simulation results show that good tracking has been performed and the controller is very good against noise and disturbance.