In order to eliminate the coupling between of radial four degree-of-freedoms (DOFs) in a rigid rotor supported by two radial active magnetic bearings and to suppress the rotor imbalance vibration, a feedforward decoupling control was proposed, and then the rotor imbalance compensation based on imbalance identification was used after the rotor system had been decoupled. A time-optimal tracking differentiator was used to improve the performances of feedforward decoupling control and imbalance compensation. Numerical simulations and experiment results show that the radial four DOF coupling system could be completely decoupled into four single DOF systems by the feedforward decoupling controller, the imbalance vibration of the decoupled system could be effectively suppressed by the imbalance compensation, the performances of decoupling and imbalance compensation could be improved and the anti-interference ability of the control system could be enhanced by using the time-optimal tracking differentiator.

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