Same laws as the 3D version. Weight W = (20 + payload) t g.
EDS: F = 9e5 m (vr^2/(vr^2+1)) exp(-(gap-8)/22), vr = v/100 km/h
drag = F (100/v) ; gap solved so F = W (30-step bisection)
EMS: F = 1.1e6 m I (10/gap)^2 ; PD controller around 10 mm
gap'' = (W - F)/M + g*9*err - g^2*0.9*gap'EDS needs speed to lift off and wastes power as drag; EMS hovers at rest but needs a stable controller (very high gain oscillates).