Comparison between state feedback and variable structure control of Magnetically Suspended Balance Beam (MSBB) system

Abstract

This paper presents the control of Magnetically Suspended Balance Beam (MSBB)system using Integral Sliding Mode Control (ISMC). The MSBB is a balancing system that use two magnetic coils to balance the beam. The use of magnetic scoils, introduce the nonlinearity in the system. MSBB also contains nonlinear magnetic force and variable inductance, L. Besides, there is also a mismatched disturbance present in the system. To overcome this problem, Integral Sliding Mode Control (ISMC)has been proposed to control the balance beam. The integral compensator is used for achieving a zero steady-state error under an external step disturbance force. The results show that the controller can overcome both nonlinearities and disturbance. Lastly, using a computer simulation, the performance of the designed ISMC is evaluated and compared with the pole placement method.