MIMO regulation control design for magnetic steering of a ferromagnetic particle inside a fluidic environment

References

• Afshar, S. (2012). Modeling and control of a magnetic drug delivery system (Master thesis). Waterloo: University of Waterloo.
   Google Scholar
• Afshar, S., Khamesee, M.B., & Khajepour, A. (2013). Optimal configuration for electromagnets and coils in magnetic actuator. IEEE Transaction on Magnetics, 49(4), 1–10.
   Web of Science ®Google Scholar
• Anantharam, V., & Desoer, C.A. (1985). Tracking and disturbance rejection of MIMO nonlinear systems with a PI or PS controller. IEEE Transactions on Automatic Control, 24, 1367–1468.
   Google Scholar
• Arcese, L., Fruchard, M., & Ferreira, A. (2009). Nonlinear modeling and robust controller-observer for a magnetic microrobot in a fluidic environment using MRI gradients. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 534–539). St. Louis, MO: IEEE.
   Google Scholar
• Byrnes, C.I., Delli Priscoli, F., Isidori, A., & Kang, W. (1997). Structurally stable output regulation of nonlinear systems. Automatica, 33, 369–385.
   Web of Science ®Google Scholar
• Chanu, A., Felfoul, O., Beaudoin, G., & Martel, S. (2008). Adapting the clinical MRI software environment for real‐time navigation of an endovascular untethered ferromagnetic bead for future endovascular interventions. Magnetic Resonance in Medicine, 59, 1287–1297.
   PubMed Web of Science ®Google Scholar
• Davison, E.J. (1972). The output control of linear time invariant multivariable systems with unmeasurable arbitrary disturbances. IEEE Transaction on Automatic Control, AC-17, 621–630.
   Web of Science ®Google Scholar
• Davison, E.J. (1975). A generalization of the output control of linear multivariable systems with unmeasurable arbitrary disturbances. IEEE Transaction on Automatic Control, AC-20, 788–792.
   Web of Science ®Google Scholar
• Davison, E.J. (1976). The robust control of a servomechanism problem for linear time-invariant multivariable systems. IEEE Transaction on Automatic Control, 21(1), 25–34.
   Web of Science ®Google Scholar
• Esfandiari, F., & Khalil, H.K. (1992). Output feedback stabilization of fully linearizable systems. International Journal of Control, 56, 1007–1037.
   Web of Science ®Google Scholar
• Francis, B.A. (1976). The linear multivariable regulator problem. IEEE Conference on Decision and Control including the 15th Symposium on Adaptive Processes, 15 (pp. 873–878). Clearwater, FL: IEEE.
   Google Scholar
• Francis, B.A., & Wonham, W.M. (1975). The internal model principle for linear multivariable regulators. Journal of Applied Mathematics and Optimization, 2, 170–194.
   Web of Science ®Google Scholar
• Francis, B.A., & Wonham, W.M. (1976). The internal model principle of control theory. Automatica, 12, 457–465.
   Web of Science ®Google Scholar
• Fransis, B., Sebakhy, O.A., & Wonham, W.M. (1974). Synthesis of multivariable regulators: The internal model principle. Applied Mathematics and Optimization, 1(1), 64–86.
   Web of Science ®Google Scholar
• Haddad, W.M., & Chellaboina, V. (2008). Nonlinear dynamical system and control: A Lyapunov-based approach. Princeton, NJ: Princeton University Press.
   Google Scholar
• Hepburn, J.S.A., & Wonham, W.M. (1984). Error feedback and internal models on differentiable manifolds. IEEE Transaction on Automatic Control, 29, 397–403.
   Web of Science ®Google Scholar
• Huang, J., & Rugh, W.J. (1990). On a nonlinear multivariable servomechanism problem. Automatica, 26(6), 963–972.
   Web of Science ®Google Scholar
• Isidori, A. (1999). Nonlinear control systems I. London: Springer Verlag.
   Google Scholar
• Isidori, A., & Byrnes, C. (1990). Output regulation of nonlinear systems. IEEE Transaction on Automatic Control, 35, 131–140.
   Web of Science ®Google Scholar
• Komaee, A., & Shapiro, B. (2010). Steering a ferromagnetic particle by magnetic feedback control: Algorithm design and validation. American Control Conference (6543–6548). Baltimore, MD: IEEE.
   Google Scholar
• Laub, A.J., Heath, M.T., Paige, C.C., & Ward, R.C. (1987). Computation of system balancing transformations and other applications of simultaneous diagonalization algorithms. IEEE Transaction on Automatic Control, 32, 115–122.
   Web of Science ®Google Scholar
• Mathieu, J.B., Beaudoin, G., & Martel, S. (2006). Method of propulsion of a ferromagnetic core in the cardiovascular system through magnetic gradients generated by an MRI system. IEEE Transactions on Biomedical Engineering, 53, 292–299.
   PubMed Web of Science ®Google Scholar
• Moglia, A., Menciassi, A., Schurr, M.O., & Dario, P. (2007). Wireless capsule endoscopy: From diagnostic devices to multipurpose robotic systems. Biomedical Microdevices, 9, 235–243.
   PubMed Web of Science ®Google Scholar
• Probst, R., Lin, J., Komaee, A., Nacev, A., Cummins, Z., & Shapiro, B. (2010). Planar steering of a single ferrofluid drop by optimal minimum power dynamic feedback control of four electromagnets at a distance. Journal of Magnetism and Magnetic Material, 323, 885–896.
   Web of Science ®Google Scholar
• Serrani, A., Isidori, A., & Marconi, A. (2001). Semiglobal nonlinear output regulation with adaptive internal model. IEEE Transaction on Automatic Control, 46, 1178–1194.
   Web of Science ®Google Scholar
• Slotine, Jean-Jacques E., & Weiping, Li. (1991). Applied nonlinear control (Vol. 199, no. 1). Englewood Cliffs, NJ: Prentice-Hall.
   Google Scholar
• Staats, P.W., & Pearso, J.B. (1977). Robust solution of the linear servomechanism problem. Automatica, 13(2), 125–138.
   Web of Science ®Google Scholar
• Tamaz, S., Gourdeau, R., Chanu, A., Mathieu, J.B., & Martel, S. (2008). Real-time MRI-based control of a ferromagnetic core for endovascular navigation. IEEE Transactions on Biomedical Engineering, 55, 1854–1863.
   PubMed Web of Science ®Google Scholar
• Tamaz, S., Gourdeau, R., & Martel, S. (2008). Bidimensional MRI-based navigation system using a PID controller. IEEE 28th Annual International Conference of the Engineering in Medicine and Biology Society, EMBS'06 (pp. 4424–4427).
   Google Scholar
• Tamaz, S., and Martel, S. (2005). Impact of the MRI-based navigation system constraints on the step response using a PID controller. IEEE 27th Annual International Conference of the Engineering in Medicine and Biology Society, EMBS'05 (pp. 5073–5076). Shanghai: IEEE.
   Google Scholar
• Teel, A.R., & Praly, L. (1995). Tools for semi-global stabilization by partial state and output feedback. SIAM Journal of Control and Optimization, 33(5), 1443–1488.
   Web of Science ®Google Scholar
• Uehara, A., & Hoshina, K. (2003). Capsule endoscope NORIKA system. Minimally Invasive Therapy & Allied Technologies, 12, 227–234.
   PubMed Web of Science ®Google Scholar
• Wonham, W.M. (1976). Toward an abstract internal model principle. IEEE Transaction on Systems, Man, and Cybernetics, SMC-6(11), 735–740.
   Web of Science ®Google Scholar