中文摘要：

针对磁悬浮系统的控制问题，研究了控制系统设计中的限制因素，指出了磁悬浮系统的稳定性一般都可以用线性化方程来进行处理，因此磁悬浮系统的设计问题主要是性能问题，而系统的性能（灵敏度）则是受到Bode积分定理的约束；分析了球在悬浮状态下的漂浮运动对系统带宽的影响，利用Bode定理，给出了磁悬浮系统所能达到的灵敏度最小值，并得到了实验验证。根据所给出的积分约束可以在设计阶段就预见到系统所能达到的性能，对系统设计具有普遍意义。

英文摘要：

A magnetic levitation lab set is used to illustrate the performance limitation of a control system design. It is pointed out that the stability of a magnetic levitation system can be treated thoroughly by using the linearization equations, therefore the performance of the system becomes the main concern of the design. But the system performance （sensitivity） is limited by the Bode＇ s integral theorem. The influence of the horizontal floating of the ball on the system bandwidth is also discussed. The achievable minimum of the sensitivity of the maglev system is obtained by using the Bode theorem and is verified by experiments. Based on the integral constraint, the achievable performance of the system can be predicted during the design stage, and it is meaningful for practical applications.