POSITION CONTROL OF A LEVITATING MAGNETIC ACTUATOR APPLICATIONS TO MICROSYSTEMS

Abstract This paper deals with a novel magnetic microactuator. Its moving part is a permanent magnet in unstable levitation between two stable positions, and thus its central position must be precisely controlled. A cm-scale prototype was built to test the dynamic behaviour of the device. The quaternion algebra is used to describe the 3D movement of the moving magnet. A PD controller for position control is determined by a pole placement; it is then tested on the complex model and the theoretical results are satisfactory.

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