Feedback Linearization Applied to a MIMO Active Magnetic Bearing: A Systematic Approach and Application to a Balance Beam

This paper illustrates a systematic approach to feedback linearization for a magnetic bearing system. This method relies upon the construction of a nonlinear coordinate transformation that insures a unique feedback linearization law exists which has several practical properties: the linearizing feedback is guaranteed regular; the resulting linearized system is guaranteed controllable; and beam angular position regulation is achievable. Moreover, the construction of a diffeomorphism allows the control engineer to assert operating constraints on the actuator fluxes. In particular, this paper investigates constant flux sum and constant product constraints and compares their relative merits.