Nonlinear feedback control of magnetic levitating system by exact linearization approach

This paper presents a robust control design for magnetic levitating systems (MLS) using the exact linearization approach. It consists of two steps: 1) it is shown that the MLS can be exactly linearized, so the problem caused by the model uncertainties in the usual approximate linearization can be overcome; 2) the robustness against the parameter uncertainties is guaranteed by linear robust control. This design is evaluated by numerical simulation and experiment.