A method for controlling and positioning a two-dimensional electric motor is disclosed. The electric motor has a coil array and a magnet array. The method controls the motor in two directions in the plane of the magnet array and about a third direction generally orthogonal to the plane. The method includes:...http://www.google.com/patents/US6650079?utm_source=gb-gplus-sharePatent US6650079 - System and method to control planar motors
