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A detailed design procedure for a contactless power transmission system with high efficiency is presented in this paper. A phase-shift full-bridge converter is used in order to control output power and adjust frequency precisely at the desired value of resonance to gain soft switching advantages. In addition, it will be discussed how to use performance factor curves of ferrite cores to select the best core for achieving maximum efficiency. Moreover, the methods to obtain system inductance are reviewed in the paper. As a design example, a contactless power transmission system for transmission of 500 W through 1 mm airgap is designed with an efficiency of 98% by applying the described design procedure. The selected core for this example is the ETD core. To validate the described design procedure, the results of examplar design are compared with those obtained from simulations by Matlab/Simulink.