Stabilization and Tracking Control of Magnetic Levitation Systems Using Backstepping Technique
Abstract
Magnetic levitation systems represent a class of inherently unstable and highly nonlinear electromechanical systems, making them a compelling benchmark for advanced control strategies. This paper presents a nonlinear control approach for the stabilization and trajectory tracking of a magnetic levitation system using the backstepping technique. The controller is systematically designed based on the system's nonlinear dynamics, where virtual control inputs are recursively introduced to ensure stability at each design step. A rigorous Lyapunov-based analysis is conducted to guarantee asymptotic stability within the admissible operating region of the closed-loop system and to prove convergence of the tracking error to zero. The effectiveness of the proposed control scheme is validated through comprehensive numerical simulations under various operating conditions, including set-point regulation and dynamic reference tracking. The results demonstrate fast transient response and minimal overshoot. These findings confirm that backstepping control provides a reliable and systematic framework for handling the nonlinearities and instability inherent in magnetic levitation systems, making it a promising candidate for advanced control applications and educational laboratory platforms.