Filter-Based Tracking of Magnetic Levitation Ball System

The tracking control problem of magnetic levitation ball system is considered in this paper. Based on Lagrange-Maxwell equation, the nonlinear dynamic model of levitation ball system is obtained. Three types of nonlinear tracking control strategies: position-velocity-flux feedback, position-velocity feedback and position feedback are proposed by using backstepping method. In all cases, we choose the favorable initial value to ensure that: all signals of the closed-loop system are bounded and track errors tend to zero. Simulations are performed to demonstrate the performance of the control strategies.