中文摘要：

为了实现对磁悬浮球系统的精确控制，根据变结构理论，设计了一种具有更强鲁棒性的二阶动态滑模控制器。其中新切换面含有系统输入的高阶导数，降低了趋近律中不连续项的影响，改善了普通滑模控制器存在严重抖振的缺陷。通过与普通滑模控制器进行仿真比较，结果表明，所设计的二阶动态滑模变结构控制器能使系统有较好的动态性能并能较好地实现系统稳定悬浮。

英文摘要：

According to the variable structure theory, presents a second-order dynamic sliding mode controller with stronger robustness to achieve precise control of the magnetic levitation ball system, in which the higher derivative of the new switching surface reduces the impact of the discontinuous terms in the reaching law and improves the defect of serious chattering existing in common sliding mode controller. Through the simulated comparison to the common controller, it indicates that the designed controller gets system better dynamic performance and achieve system steady levitation.