Publications

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. Model based automatic code generation for nonlinear model predictive control. International Workshop on Numerical Software Verification, 2016.

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. Design environment for nonlinear model predictive control. SAE Technical Paper, 2016.

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. Piecewise-affine approximations for a powertrain control verification benchmark. ARCH14-15. 1st and 2nd International Workshop on Applied Verification for Continuous and Hybrid Systems, 2015.

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. A sum of squares approach to backstepping controller synthesis for piecewise affine and polynomial systems. International Journal of Robust and Nonlinear Control, 2014.

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. Estimation of region of attraction for polynomial nonlinear systems: A numerical method. ISA transactions, 2014.

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. Active front-steering control of a sport utility vehicle using a robust linear quadratic regulator method, with emphasis on the roll dynamics. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2013.

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. A convex formulation of controller synthesis for piecewise-affine slab systems based on invariant sets. 2012 IEEE 51st Annual Conference on Decision and Control (CDC), 2012.

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. PWATOOLS: A MATLAB toolbox for piecewise-affine controller synthesis. American Control Conference (ACC), 2012.

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. Handling safety improvement for steer-by-wire vehicle using fuzzy controller. 2nd International Conference on Control, Instrumentation and Automation (ICCIA), 2011.

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. Controller design for vehicle stability improvement using optimal distribution of tire forces. 2nd International Conference on Control, Instrumentation and Automation (ICCIA), 2011.

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. Backstepping controller synthesis for piecewise polynomial systems: a sum of squares approach. American Control Conference (ACC), 2009.

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. Sampled-data piecewise affine slab systems: A time-delay approach. American Control Conference (ACC), 2008.

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. Controller synthesis for piecewise affine slab differential inclusions: A duality-based convex optimization approach. 46th IEEE Conference on Decision and Control, 2007.

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. Backstepping controller synthesis for piecewise affine systems: A sum of squares approach. IEEE International Conference on Systems, Man and Cybernetics, 2007.

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. Extension of a local linear controller to a stabilizing semi-global piecewise affine controller. 7th Portuguese Conference on Automatic Control, 2006.

. Fuzzy based stability enhancement system for a four-motor-wheel electric vehicle. SAE Transactions, 2002.

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. Improving vehicle handling by differential braking. Sharif Scientific Research Quarterly, 2002.

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. Real-time estimation of vehicle state and tire-road friction forces. American Control Conference (ACC), 2001.

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. Estimation of vehicle speed and tire-road friction forces. Amirkabir Journal of Science and Technology, 2001.

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