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In this paper, a nonlinear observer-based state feedback is derived to achieve precision tracking of a rotating shaft supported by active magnetic bearings (AMBs). Velocity and disturbance observers are constructed which operate in a hierarchical manner. This approach reduces the order of the design and modularizes compensation for synchronous vibration. Experimental results on a commercially available five degree-of-freedom system demonstrate accurate position tracking over the bearing air gap.

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Booktitle: Proceedings of ISMB10