Disturbance Observer-based Resilient Controller for Nonlinear Maglev System

This paper has attempted to assess the effectiveness of a disturbance observer-based fractional-order sliding mode controller applied to a nonlinear magnetic levitation system. The performance of the designed robust controller has been assessed considering parametric uncertainty and exogenous system disturbances. The main motivation for introducing fractional-order calculus and disturbance observer is to mitigate the problem of chattering in the control input. The presented result of the simulation shows the mastery of the suggested robust controller in coping with unknown/uncertain system disturbances. Moreover, improvement in chattering at the output of the controller is also considerably attenuated with the augmentation of the proposed scheme.