To compensate for the nonlinearity

To compensate for the nonlinearity of the magnetic coupling0s torque transfer characteristic, an approach based on the use of feedback linearization and state feedback has been developed. The derived control laws and state transformations result in exact linear behavior, for both speed and position control, between input and output. Feedback linearization forms an inner control loop that renders the nonlinear input-output dynamics into a linear chain of integrators. With a feedback linearized “inner loop”, an “outer loop” is designed to produce the overall required dynamics. As previously discussed, the ITAE step response polynomials are used to provide an optimized linear step response over the entire input operating range, prior to the point at which pole-slipping occurs in the magnetic coupling.