This project is about the robust control of a magnetic levitation system (maglev), of which the schematic diagram is shown in Fig. 1. The linearized model of the system is given in the following form: d2q df di dl 3306.63g 33.7? I 0. \p 622.347 I53.19u where q is the position of the ball, s is the winding current and p represents a process disturbance. The measurement p is the position q with an additional measurement noise r in the form: Note that all signals are in the corresponding SI units. By suitably controlling the voltage o, the ball position q can be regulated to a given value Que/ } 9 Figure 1: Illustration of a magnetic levitation system Part A 1. Describe the open-loop magnetic levitation system with transfer functions and then with a block diagram. 2. Draw the block diagram of a closed-loop control system for the magnetic levitation system so that the position q of the ball can track the position reference Qre/ 3. Design a UDE-based robust controller so that the position q of the ball can be regulated at a constant are Without any static error. Build a Simulink model for the system