We control the motion of paramagnetic microparticles with average diameter of 100 µm inside microfluidic channels against and along time-varying flow rates. The drag force and the force due to time-varying flow rate are modeled as time-varying disturbance force. This force is estimated using a disturbance force observer and compensated using a magnetic-based closed-loop control system. The closed-loop control with disturbance compensation decreases the steady-state error by 81.4%, 70.2%, and 70.3% at flow rates of 6 ml.hr−1, 17 ml.hr−1, and 35 ml.hr−1, respectively. The proposed control system is essential to translate these paramagnetic microparticles and magnetic drug carriers into in vivo applications.
['Hazem Abass', 'Mostafa Shoukry', 'Anke Klingner', 'Abdelrahman Hosney', 'Sarthak Misra', 'Islam S. M. Khalil']
Disturbance observer-based motion control of paramagnetic microparticles against time-varying flow rates