電磁和永磁組成的混合懸浮系統，懸浮能耗小，能夠減少懸浮系統能量的損耗。
本文建立了混合懸浮系統的數學模型，并采用了滑模控制器設計了混合懸浮控制系統，利用李亞普諾夫穩定性與極點配置結合的方法設計了系統的切換超平面和控制量，運用
SIMULINK 軟件建立仿真模型并進行相關仿真實驗，最后結合實際裝置進行懸浮實驗。
關鍵詞：混合懸浮系統；滑模變結構；仿真；實驗
Abstract: A hybrid-levitation system with permanent magnets and electromagnets consumes
little power, and can decrease the power loss of the suspension system. In this paper the
mathematical model of this hybrid-levitation system is induced, and the method of sliding mode control is researched. A sliding mode control system is designed based on the design of flat surface of switchover, which is designed with the theory of the combination of Liapunov stability and pole assignment with SIMULINK. At last, make the research with the real device.
Key Words: hybrid-levitation system；sliding mode；SIMULINK；experiment