Abstract
This paper describes a new formulation to the three-dimensional movable magnetic levitation system using I-shaped electromagnets and a lower dimensional technique at a suitable selected operating point. In the formulation, an attractive force per unit was first derived to assume that an I-shaped electromagnet and a floating object were present as a magnetic charge model. Then, the resulting force vector was determined on the geometric configuration of I-shaped electromagnets. Model-following servo controllers designed for each state equation in the x-, y-, and z- directions, which were derived from the proposed formulation and lower-dimensional technique, successfully stabilized the maglev system.
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