The control performance of magnetically suspended motor with heavy self-weight and great moment of inertia is affected by parameter uncertainty and external disturbances, and the coupling effect in radial tilting of magnetically suspended motor becomes serious with the increase of rotational speed and moment of inertia, and then, the robustness would be reduced. Therefore, an internal model control model is proposed to adjust the robustness of magnetically suspended motor. Based on the internal model control model, a decoupling internal model control model is designed for magnetically suspended motor on four degrees of freedom. Simulation and experiment are conducted to verify that the internal model control model improves the robust stability of magnetically suspended motor, and the decoupling internal model control model effectively realizes the decoupling control of magnetically suspended motor on four degrees of freedom.
