Motivated by the technical progress apedal locomotion systems are more and
more used in micro systems. Some of these systems are based on
electrodynamic principles, which allow a discrete positioning of magnetic
beads. The aim of this diploma thesis is to realise an analogue position
control (closed-loop) of magnetic materials in an open magnetic circuit.
The movement of permeable materials in the magnetic field generated by
electromagnets is described by simplified, nonlinear, ordinary differential
equations. Due to increasing computing-power efficient tools for system
identification are available. Particular parameters of the model are
determined consequently with the help of several model-based optimisation
routines leading to a model which is close to reality. The identified
nonlinear model can be transformed to a linear one by using feedback
linearisation. With this strategy the well-known and efficient linear
state-space controllers can be used to realise the position control of
magnetic beads.The mentioned control methods are implemented on an FPGA, so
that the functionality can be verified in real-time. Thereby the postulated
dynamic properties, namely velocity and system’s damping, can be observed.