Modeling and control of a magnetic bearing actuated beam

Presents a nonlinear coordinate transformation for a magnetic bearing system. The construction of this coordinate transformation follows a strict mathematical procedure. Once in the new coordinate system, 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. As a direct consequence of feedback linearization the system decouples into two systems: one governing the beam angle and the other a dynamic bias