A disc-type rotor magnetic bearing with 3-pole magnet is considered in the paper. The disc-type rotor supported by electro-magnetic forces has potential in industrial application especially in flywheel energy storage systems. However, coupling phenomenon in acting forces makes the balancing control problem in the system challenging. Based on analysing magnetic forces acting on the rotor, the coupling mechanism is identified, and a coordinate transformation is formulated to decouple acting forces. Thanks to the transformation, control design is straightforward for each control channel leading to simple and straightforward control design. The goal of the design is to keep the rotor at its desired equilibrium in the presence of disturbance and parameters variation. The goal can be achieved when the controller is designed in discrete-time domain based on the linearized model, then, the disturbance is compensated by employing the one step delay technique. The validity and robustness of the controller are verified by various numerical simulations in which original nonlinear model is used.
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