For attenuating the chattering phenomenon and improving the disturbance suppression for the magnetic levitation control system subject to multiple disturbances and parameter uncertainties, this paper proposes an internal model disturbance observer (IMDO) based continuous non-singular terminal sliding mode control (CNTSMC) scheme. Firstly, a nonlinear dynamic model of the magnetic levitation system is constructed. Then, for ensuring the system position state tracking performance and suppress the chattering phenomenon, a CNTSMC method is designed to make the system state converge to the desired position in finite time. For improving the multiple disturbance rejection, an IMDO based CNTSMC scheme is designed for the system affected by multiple disturbance which includes both high-order and trigonometric function forms. Compared with CNTSMC and CNTSMC+GPIO controller, simulation and experimental results show that the proposed method could improve the position tracking performance and obtains better multiple disturbance rejection. Some control performance indexes for quantitative comparison are also given to supports these results.

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