AMB Nonlinear Control with Input-Output Exact Linearization Considering Modal Characteristics

In this paper, exact linearization technique considering modal characteristics of a rotor is proposed for AMB systems. The 1st and the 2nd modes of the rotor are taken into account of the control system design. In order to utilize modal characteristics of the rotor with exact linearization technique, AMB control systems are treated as MIMO systems. Teh effectiveness of the proposed method is confirmed by levitation experiments.