The main purpose of the Thesis is the control of a microscopic capsule, equipped by an internal permanent magnet, through an external magnetic field properly generated by an external permanent magnet. The capsule will be able to move in the workspace due to magnetic forces and torques on it. Moreover, another smaller capsule, containing Ferromagnetic particles, is used to simulate the interaction between with the magnetic field of the external permanent magnet and the one generated by the internal permanent magnet, that is inside the first capsule, and the particles themselves. Hence, a multi-stage magnetic control is developed.