Table 1.

Control inputs for electromagnet waveforms.

Magnetic Coil Control Parameters

Control Variable	Symbol	Source	Range
Frequency	$f$	Fixed	15.9 Hz $(\text{ω}=2\text{π}f=100\text{rad}/\text{s})$
Magnitude X	$M_x$	RL agent	[−1,1] unitless
Magnitude Y	$M_y$	RL agent	[−1,1] unitless
Magnitude Z	$M_z$	$\max \left(\left|{\text{M}}_{\text{x}}\right|,\left|{\text{M}}_{\text{y}}\right|\right)$	[0,1] unitless
Phase Angle X	${\phi }_x$	RL agent	[0,$2\pi$] radians
Phase Angle Y	${\phi }_y$	RL agent	[0,$2\pi$] radians

Control Equations
Current in X-axis coil	${\text{I}}_{\text{x}}=M_x\sin \left(f\text{t}+{\phi }_x\right)$		(5)
Current in Y-axis coil	${\text{I}}_{\text{y}}=M_y\sin \left(f\text{t}+{\phi }_y\right)$		(6)
Current in Z-axis coil	${\text{I}}_{\text{z}}=M_z\sin (f\text{t})$		(7)