A magnetic-levitation system using a rotating permanent magnet has been developed. Pole pitch of the magnetic wheels and thickness of the metal plates required for levitation were investigated by experiments and computational calculation. To determine the optimum conditions, the levitation force generated by using motors with different torque and rotation speed was measured. These measurements clarified differences in the generated levitation force due to the different rotational speed and torque. Parameters such as skin depth, magnetic density, and eddy-current distribution density, ratio of drag force to levitation force, and levitation force per driving power were numerically calculated from the magnetic field created by the rotating permanent magnet and effective frequency. General important conclusion obtained from the calculation was that the magnetic wheels should be designed to be large and the pole pitch of the magnets was to be wide, and the levitation force per driving power will be improved in proportion to a root function of the pole pitch between the magnets. If the size of the magnetic wheel increased, the ratio of the lateral drag force per the levitation force became significantly small at low rotational speed. A motor with a large torque and peak output property at low rotational speed for magnetic wheels is most suitable for driving large magnetic wheels to obtain large levitation force. Using large magnetic wheel in the experiment showed that the levitation force per driving power increased than that case of using small magnetic wheel.