Bearingless motors belong to a special type of electric machines that use a magnetic suspension instead of a mechanical one for holding rotor in the air gap avoiding physical contact between rotor and stator. The use of a rotor magnetic suspension eliminates the needs of mechanical bearings usage and allows the motor operation in which the rotor has no physical connection with the stator over the classical bearing system. Therefore, bearingless motors have advantages over classical motors such as long service life, low maintenance costs, no usage of lubricants, no need for sealing and allow hermetic separation of stator and rotor. These advantages make bearingless motors very suitable for applications where high cleanliness is required. The use of magnetic suspension (magnetic levitation) involves keeping the rotor in a central position using only magnetic forces, which is one of the main issues in a bearingless motors operations. The problem of the magnetic suspension of the rotor is solved by the appropriate design and construction of the motor, which, among other things, implies the use of a large number of sensors, a multi-phase power supply and a specially designed digital control system. Simplification of the construction of the bearingless motor was achieved by the introduction of the bearingless motor with a disk-shaped rotor. The usage of a disk-shaped rotor allows passive stabilization of the rotor movement in three degrees of freedom. Rotor stabilization in the remaining two degrees of freedom is achieved by active stabilization (current control). Active stabilization is done by motor current regulation with appropriate control structure necessary for proper operation of the bearingless motor. Most of the modern bearingless motors have a linear dependence between the developed forces in the motor and motor currents. This leads to the fact that the bearingless motor control structures are based on the assumption of a linear relationship between developed forces on the rotor and the motor currents. However, in certain types of bearingless motors, especially in the case of bearingless motors with pronounced reluctancy on the rotor side, the nonlinear dependence of the developed forces and the motor currents cannot be neglected. Focus in this thesis is on the development of the novel nonlinear bearingless motor control structure for the case when there is no linear dependence between the developed force on the rotor and the motor currents. In this work all steps of the research are presented. This includes: bearingless motor simulation model development, development and testing of a new control structure based on nonlinear bearingless motor model, model reduction techniques for implementation, implementation of the newly developed nonlinear control structure in the bearingless motor digital control system and experimental verification of the developed nonlinear control structure on laboratory prototype.