Journal of Intelligent and Robotic Systems

, Volume 42, Issue 3, pp 295–316

Design of a Novel Fuzzy Sliding-Mode Control for Magnetic Ball Levitation System


DOI: 10.1007/s10846-004-3026-3

Cite this article as:
Kuo, CL., Li, TH.S. & Guo, N.R. J Intell Robot Syst (2005) 42: 295. doi:10.1007/s10846-004-3026-3


This paper presents the design of a novel fuzzy sliding-mode control (NFSMC) for the magnetic ball levitation system. At first, we examine the nonlinear dynamic models of the magnetic ball system, where the singular perturbation method is used. Next, we address the design schemes of sliding mode control (SMC) and traditional fuzzy sliding-mode control (FSMC), where two kinds of FSMCs are introduced. Then we provide the design steps of the NFSMC, where the Lyapunov stability analysis is also given. Finally, a magnetic ball levitation system is used to illustrate the effectiveness of the proposed controller.


novel fuzzy sliding-mode controlsingular perturbationmagnetic levitation

Copyright information

© Springer 2005

Authors and Affiliations

  1. 1.IC2S Laboratory, Department of Electrical EngineeringNational Cheng Kung UniversityTainanTaiwan, R.O.C.