This work extends an existing model of a permanent magnet linear synchronous motor and proposes a nonlinear controller for it. The motor is assumed to operate without mechanical bearings, so that the airgap length varies and requires regulation; accordingly, the extended model captures both longitudinal and normal dynamics. The output feedback control law mainly relies on the recently proposed power integrator method but also uses the standard techniques of exact feedback linearization and Lyapunov redesign. Uniformly bounded stability of the closed-loop system is achieved in spite of cogging forces and end-effects. (C) 2004 Elsevier Ltd. All rights reserved.