where z˙ (t) is the velocity of the levitating magnet and Fd is the
magnitude of the dry friction damping force.
The model in Eq. (1) can be solved using a time step model
in Simulink. In the model, the magnetic force and the magnetic
flux through the coil were calculated based on analytic equations
[22,23]. The damping is dependent upon the type and shape of
the materials, thus the devices were fabricated in order to better
estimate the damping.