Controllability of Parallel Magnetic Suspension System with Mixed Magnetic Polarity

This paper studies the controllability of parallel magnetic suspension. The most basic magnetic suspension system consists of a suspended object (floator), an electromagnet and a power amplifier. In parallel magnetic suspension, multiple floators and electromagnets are controlled with a single power amplifier. The concept and the fundamental properties of parallel magnetic suspension systems have been already presented. They are classified according to the output of power amplifier and the connection of coils. However, the polarity of electromagnet has not been treated yet. In this work, the effect of the polarity is taken into consideration. It is shown that the controllability is independent of the polarity.