The first magnetic suspension experiment uses 1 sensor and 1 actuator to suspend a tube on one end, while the other end of the tube is simply supported. The suspension control is implemented by using a lead compensator on X axis, and another lead compensator on Y axis; X and Y direction dynamics are assumed uncoupled and are controlled independently. The closed loop bandwidth is below the first vibration frequency.

    Free-free Ends Suspension

The second magnetic suspension experiment uses 2 sensors and 2 actuators to suspend a tube one both ends, the tube is only supported by the magnetic force; it floats in the air without any contact. The suspension control is implemented by local control; each sensor/actuator pair is controlled independently. X and Y direction dynamics are controlled independently. The closed loop bandwidth is below the first vibration frequency.