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