This thesis considers the position-tracking problem of a magnetic levitation system in the presence of modeling errors due to uncertainties of physical parameters. First, a dynamic model of the magnetic levitation system is derived. Then, a smooth switching adaptive robust control is proposed. The controller consists of three part, an adaptive linearizing controller using RBFN, robust controller, and an smooth function to switch between the above two controllers . The proposed controller improves the tracking performance and avoids the so-called control singularity occurred in a standard adaptive linearizing controller. Both simulation and experiments are carried out to verify the proposed method.
