Nonlinear control design for a high-precision contactless positioning system using magnetic levitation

This paper presents the implementation of a two degree-of-freedom, high-precision, magnetic-levitation-based positioning system. The apparatus employs one permanent magnet linear synchronous motor and is constructed by Quanser Inc. The paper focuses on the design and testing of a nonlinear controller required for actuating the positioning system. The controller is based on feedback linearization and output regulation. Experimental results show that the controller is capable of performing both set-point stabilization and sinusoidal tracking over the complete operating range to within a specified degree of accuracy, with an acceptable amount of overshoot and settling time