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The aim of this paper is to combine two techniques to control a nonlinear Magnetic Levitation System (MLS). Firstly, a feedback linearization technique (here, exact linearization with state feedback) is applied to obtain a linear system. Secondly, the linearization is made via direct cancellation of nonlinear functions, which represent the phenomenological model of the system. Finally, to deal with the presence of uncertainty in the system model, an adaptive controller is used. The controllerdoi:10.24846/v21i1y201208 fatcat:npuzpk6klrdkviqvftonospyhq