Abstract
Major objective of this paper is to develop the design method of sliding mode controller for a nonlinear electromagnetic levitation system and to verify the validity by carrying out the experiments. The system is governed by a set of a nonlinear second-order motion equation and a nonlinear first-order electromagnetic equation. The design procedure of a switching function is based on the stability of the system zero dynamics with respect to motion. Results of several case studies for the initial response are shown to discuss the present design method in advance of the experiment.
