A limitation of reluctance actuators that prevent their use in precision positioning is their stiffness. Reluctance actuators are sensitive to both linear and angular disturbances. It is very important for the control system to compensate for the actuator stiffness in order to meet positioning standards. This project involves building a set up that can inject positioning disturbances in three degrees of freedom (z, pitch and roll) and a control system that can be robust to the disturbances.