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A numerical model based on the critical-state approximation and on a magnetic-energy minimization procedure is presented to simulate the levitation of a system composed of two isolated infinitely long superconductors levitating over permanent-magnet guideways. Three different sets of magnetic guideways are simulated and compared with experimental tests of a linear superconducting magnetic bearing for a prototype of a real magnetic levitation vehicle. In spite of the complexity of the permanent-magnet guideway design, the model serves as a first approach to calculate the vertical levitation force of these superconducting bearings. The measured and calculated force results validate the model applied to study these systems, in addition to some limitations caused by simplifications considered in the theoretical model.