  The present report summarizes the work conducted during the internship on
Feedforward Control of the Magnetic Levitation Setup. Different feedforward
strategies, specifically tailored for this setup, are developed and reviewed.
These feedforward methods explicitly take the intrinsic position-dependent
behavior of the magnetic levitation setup into account. Additionally,
closed-loop stability of the given setup is assessed. All investigations are
carried out under the rigid-body assumption of the structure. Analysis and
simulation show the potential performance improvement obtained with such
feedforward strategies.
