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In this paper, a cascaded sliding mode control is designed for magnetic levitation systems usually comprised of an electrical loop and an electromechanical loop. A disturbance-observer-based sliding mode controller is designed for the electrical loop while a state-and-disturbance-observer-based sliding mode controller is designed for the electromechanical loop. The overall stability of the system is proved. The performance of the proposed scheme is compared with a conventional linear quadratic regulator combined with a proportional–integral controller by simulation as well as experimentation on a magnetic levitation setup in laboratory.

In this paper, an active suspension system based on an inertial delay observer combined with sliding mode control is proposed for a quarter-car model. The inertial delay observer estimates the states and the uncertainties and disturbances of a system simultaneously. It is an extension of the inertial delay control which estimates the uncertainties of a system but needs the measurement of all states. The proposed scheme needs only the sprung mass position sensor for its implementation. The overall stability of the system is proved. The scheme is validated by simulation and by experimentation on a laboratory set-up. The results obtained with the proposed scheme are compared with those obtained with a passive suspension scheme, an linear quadratic Gaussian observer-based scheme and an inertial delay control-based scheme.

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Two new strategies based on uncertainty estimation are proposed for anti-lock braking systems. In one of the strategies, the uncertainties and the disturbances are estimated using inertial delay control and the estimates are used in a backstepping control based braking system. In the other strategy, in addition to uncertainties, the states are also estimated using an inertial delay observer for a sliding mode control based braking system. No knowledge of uncertainties, disturbances and the road adhesion friction coefficient or their bounds is assumed. The stability of the overall system is proved and the schemes are validated by simulation and experimentation in laboratory.Index Terms-Anti-lock braking systems, sliding mode control, backstepping controller, inertial delay control, inertial delay observer, mismatched systems.