This is just another magnetic leviation.
磁铁的阻尼几乎为零，所以这里需要求出速度，利用速度环增加阻尼。
普通的微分会有很大噪音，普通lpf也会有较大的滞后，所以寻求一些别的求导技巧。例如5点法（估计出上上个采样点的倒数），或者使用拉格朗日插值。
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DIY magnetic leviation 磁悬浮
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