中文摘要：

针对电磁永磁混合磁悬浮这一种特殊非线性系统，深刻分析被控对象特性后，指出普通状态反馈控制方法的不足，根据系统的特性提出一种非线性反馈控制方法，并通过反馈线性化理论证明其合理性。为进一步改善控制效果，提出重构速度信号，延长大速度信号的作用时间，在满足系统正常响应速度的情况下，增加电磁铁向上运动的阻尼，抑制电磁铁向上方向的超调，从而避免磁铁撞击甚至吸死轨道。最后通过实验验证算法的有效性。

英文摘要：

As a kind of special nonlinear system, the characteristics of the Hybrid EMS system are fully analyzed, and the insufficiency of the normal-state feedback control method is pointed out. Another nonlinear feedback control method is put forward on the basis of the characteristics of the Hybrid EMS system. The rationality of the new method is proved with the feedback linearization theory. In order to further improve the control performance, the velocity signal reconstruction method is put forward, the active time of large velocity signals is extended, the damp in magnet upward moving is increased to suppress the overshoot with the normal response time of the system not affected and then the magnet avoids bouncing and contacting with the guideway. At last the effectiveness of the control methods is verified by tests.