Ablay, Gunyaz2021-11-272021-11-2720210022-04341528-9028https //doi.org/10.2174/1568026616666161222110600https://hdl.handle.net/20.500.12573/1042Turkish Scientific and Research Council (TUBITAK) (Project No. 116E168; Funder ID: 10.13039/501100004410).An optimal model-free controller and a linear controller are designed and applied to a horizontal magnetic micromanipulator for controlling microparticles in a liquid environment. An input-output relation based model for the magnetic micromanipulator is obtained, verified, and used in the analysis of controllers. A model-free linear controller is designed using the offset current approach. An optimal nonlinear controller based on Karush-Kuhn-Tucker conditions is designed and then modified to produce smooth control signals. Experimental results are provided to show the efficiency and feasibility of the proposed controllers. The model-free controllers yield short settling time and zero steady-state error in the control of magnetic microparticles.enginfo:eu-repo/semantics/closedAccessVISUAL SERVO CONTROLFORCEMICROROBOTSTWEEZERSSYSTEMarticleVolume 143 Issue 3