Abstract: A controller is configured to control operation of a confinement apparatus comprising one or more radio frequency rails and a plurality of control electrodes. The controller comprises a processing element, non-transitory computer-readable memory storing computer-executable instructions. The computer-executable instructions are configured to, when executed by the processing element, cause the controller to at least identify a manipulatable object transport operation to be performed; obtain a set of voltage signal sequences corresponding to the manipulatable object transport operation to be performed from the voltage signal sequence library; and cause one or more voltage sources to apply respective voltage signal sequences of the set of voltage signal sequences corresponding to the manipulatable object transport operation to respective control electrodes of the plurality of control electrodes via respective filters.