Abstract
This article presents an approach to path following control design based on transverse feedback linearization. A “transversal” controller is designed to drive the output of the plant to the path. A “tangential” controller meets application-specific requirements on the path, such as speed regulation and internal stability. This methodology is applied to a five degree-of-freedom (5-DOF) magnetically levitated positioning system. Experimental results demonstrate the effectiveness of our control design.
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