In this paper, a novel decoupling control approach based inverse system and internal model control methods are presented to improve the dynamic properties and control accuracy of a reluctance type bearingless motor (RBLM) effectively. By employing the inverse system method, we can obtain a decoupling pseudo-linear system, which consists of two second-order linear integral subsystems and one first-order linear integral subsystem. In addition, to reject the influence of the unmodeled dynamics the decoupling control accuracy as well as enhance RBLM system robustness, the 2 degree-of-freedom (DOF) internal model control approach is used for the three subsystems to design closed-loop controllers. The effectiveness of the proposed decoupling control approach is validated by experimental results at various operations.
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