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The presented paper shows how nonlinear adaptive control theory can be applied to magnetic bearings. Here the backstepping formalism is used to derive a stabilizing control law, which guarantees stability in the sense of Lyapunov in the presence of a unknown load. The efficiency of the proposed method comparing to linear standard design (e.g. PID) is demonstrated through experimental investigations.

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The presented paper shows how nonlinear control theory can be applied to magnetic bearings with permanent magnetic force. Because of the difficult expression for the magnetic force symbolic computation of Lie derivatives becomes unhandy. Therefore the Lie derivatives will be calculated applying automatic differentiation.

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