In this paper, modeling, simulation and experimental validation of a magnetic ball suspension system are presented. Non-linear empirical expressions for inductance and electromagnetic force are determined using experimental data. A simple PID controller and a Gain scheduling PID controller are designed based on the linearized model. The controllers are used in real time levitation and tracking of a steel ball. Numerical simulation is carried out using Simulink. The derived model is verified by comparing the simulation results with experimental results.
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