  One of the most widely studied dynamical systems in nonlinear control theory
is the levitated ball. Several full-state feedback controllers that ensure
asymptotic regulation of the ball position have been reported in the
literature. However, to the best of our knowledge, the design of a stabilizing
law measuring only the current and the voltage - so-called sensorless control -
is conspicuous by its absence. Besides its unquestionable theoretical interest,
the high cost and poor reliability of position sensors for magnetic levitated
systems, makes the problem of great practical application. Our main
contribution is to provide the fist solution to this problem. Instrumental for
the development of the theory is the use of parameter estimation-based
observers, which combined with the dynamic regressor extension and mixing
parameter estimation technique, allow the reconstruction of the magnetic flux.
With the knowledge of the latter it is shown that the mechanical coordinates
can be estimated with suitably tailored nonlinear observers. Replacing the
observed states, in a certainty equivalent manner, with a full information
asymptotically stabilising law completes the sensorless controller design.
Simulation results are used to illustrate the performance of the proposed
scheme.
