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Control theory is employed to formulate the problem of controllability of two microparticles in fluids via magnetic field. We demonstrate that a uniform external magnetic field of varying direction and magnitude provides complete local state controllability of two particles over a magnetized substrate. We propose that such an approach may improve manipulation and assembly of microparticles in fluids.doi:10.1109/tmag.2007.893143 fatcat:ycgo76iw75dvbg4zkr7rjvxjm4