一般文獻中所採用的磁浮系統模型，常常忽略一些如漏磁、有限鐵心導磁率等物理現象，以簡化模型及控制器的設計，但這可能使系統的性能受到限制。本論文將以多輸入多輸出的磁浮軸承系統為對象，將非線性物理結構引入模型中，並經由適當的控制器設計，讓磁浮系統能應用於高性能的機器上。
首先將以一維之磁浮軸承為例。藉著較適當的模型，考慮漏磁、邊緣磁場及有限鐵心導磁率等物理現象後，針對軸向與徑向磁浮軸承系統的非線性及不確定項，設計出強健性之滑動控制器。此外，為解決在軸向軸承中，實際控制器所出現之控制輸入抖顫情形，本論文並提出導入補偏電磁力的控制。最後，透過數位訊號處理卡來實現控制器，分別對軸向以及徑向軸承施以控制。實驗結果顯示滑動控制器的確對於系統之未確定項具有強健性。經由透過系統鑑別的實驗中，可以進一步瞭解由非線性現象對實際系統的影響。

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