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Nonlinear stabilization of a 3 degrees-of-fyeedom magnetic levitation system

We consider the problem of controlling the position of a platen levitated using linear motors in the threedimensional space. This theoretical study relies on a model developed in [3] and provides two controllers that solve the set-point stabilization problem. The first controllei is derived by decomposing the model in two subsystems, applying feedback linearization to one of them, and using the invariance principle to prove attractiveness of the origin of the second subsystem. The second controller is found by feedback linearizing the entire system dynamics and using a recent result on invariance control to guarantee that the state of the system does not exit the set where the feedback linearizing transformation is well-defined.