Boyuk, MustafaEroglu, YakupAblay, GunyazIcoz, Kutay2025-09-252025-09-2520200959-65182041-3041https://doi.org/10.1177/0959651819871783https://hdl.handle.net/20.500.12573/3862Eroglu, Yakup/0000-0003-3184-9317; Icoz, Kutay/0000-0002-0947-6166; Ablay, Gunyaz/0000-0003-2862-6761; Boyuk, Mustafa/0000-0002-1196-7634Magnetic micromanipulators are capable of generating wide range of magnetic forces to manipulate magnetic microparticles for biomedical applications. In this study, a multipole magnetic micromanipulator system including electromagnets, driver circuitry and control unit is designed, modeled and implemented. The micromanipulator can produce a broad range of magnetic forces up to 25 pN on a single magnetic microparticle (1-10 mu m diameter) that is 5 mm away from the electromagnet core tip. Both linear and nonlinear controllers are designed and implemented, and the proposed nonlinear controller produces smooth control currents to assure closed-loop stability of the system with 1 s non-overshoot transient response and zero steady-state tracking error. The maximum output current of the driver circuitry is set to 1 A. The single particle at the center is moved at a speed of 5 mm/s. The fully automatic system can be utilized in applications related to single cell or microparticle manipulations.eninfo:eu-repo/semantics/closedAccessMicromanipulationMagnetic ManipulatorMagnetic ForceModelingNonlinear ControlArticle10.1177/09596518198717832-s2.0-85073974934