Design and analysis of the nonlinear feedback linearizing controller for an EMS system

The analysis and the implementation of nonlinear feedback linearization control of electro-magnetic suspension (EMS) system using DSP are presented. We show that an EMS system is nonlinear feedback linearizable and that the proposed nonlinear feedback controller for an EMS system is robust against mass parameter perturbation and constant force disturbance. Some tests were conducted for experimental comparison of the feedback linearization control with the classical control approach. The experiments were performed using a TMS320C31 DSP. The experimental results demonstrate that the feedback linearization controller shows better performance than that of the classical state feedback controller using the linearization of small perturbation analysis method and it is robust with respect to parameter variations and constant load disturbance