@article{pedram2019optimal,
  title = {Optimal controller design for 3D manipulation of buoyant magnetic microrobots via constrained linear quadratic regulation approach},
  journal = {Micro-Bio Robotics},
  volume = {15},
  pages = {105-117},
  year = {2019},
  author = {Pedram, Alireza and Pishkenari, Hossein Nejat and Sitti, Metin}
}