Tracking control of a magnetic levitation system by feedback linearization

In this paper we consider stabilization and tracking problems of a magnetic levitation system. We derive a nonlinear model of a magnetic levitation system. We show that this model is feedback linearizable and we obtain a feedback linearized system of this model. We then design tracking controllers using the output regulation theory for linear systems. We also design stabilizing output feedback controllers. We show by experimental results that the obtained controllers work well.