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In common active magnetic levitation systems, a floating object is controlled stably by an electromagnet with a narrow air-gap, which reduces the leakage flux. However, in order to move a floating object dynamically, it is necessary to arrange electromagnets for horizontal motion and to make the air-gap wide for vertical motion at the expense of leakage flux. In this paper, we propose a novel magnetic levitation system having a compact electromagnet composed of four I-shaped electromagnets. We report constructional features, control techniques, and three-dimensional motion of the floating object.