A new approach to control a rubbing rotor applying an active auxiliary bearing is presented. A two-phase control strategy has been developed, which guarantees a smooth transition from free rotor motion to the state of full annular rub, in case of an operation state which causes rotor rubbing. The designed control system is able of both, avoiding high impact forces and stabilizing the rotor during rubbing. For the experimental verification of the designed control system a test rig has been realized. The experimental results show a drastic reduction of the contact forces, as well as a reduction of the rotor deflection.