
Publications During the Past 15 Years
Books
Refereed Journal Papers (appeared and accepted)

P. Krishnamurthy and F. Khorrami, "A General Dynamic Scaling Based Control Redesign to Handle Input Unmodeled Dynamics in Uncertain Nonlinear Systems," IEEE Transactions on Automatic Control, accepted, to appear, 2017.

P. Krishnamurthy and F. Khorrami, "Optimal Sensor Placement for Monitoring of Spatial Networks," IEEE Transactions on Automation Science and Engineering, to appear, 2017.

P. Krishnamurthy, F. Khorrami, and Z. Wang, "Robust Adaptive Nonlinear Control for Robotic Manipulators with Flexible Joints," Chapter in Edited Book: Adaptive Control for Robotic Manipulators (editors: D. Zhang and B. Wei), CRC Press (Taylor and Francis), 2016.

F. Khorrami, P. Krishnamurthy, and R. Karri,
"Cybersecurity for control systems: A processaware perspective,"
IEEE Design and Test Magazine , vol. 33, no. 5, pp. 7583, Oct. 2016.

P. Krishnamurthy and F. Khorrami, "Global outputfeedback control of systems with dynamic nonlinear input uncertainties through singular perturbationbased dynamic scaling," International Journal of Adaptive Control and Signal Processing, Vol. 30, no. 5, pp. 690714, 2016.

P. Krishnamurthy and F. Khorrami, "Decentralised dynamic highgain scalingbased outputfeedback control of largescale nonlinear interconnected systems with delays," Journal of Control and Decision, vol. 1, no. 4, pp. 257282, Nov. 2014.

P. Krishnamurthy and F. Khorrami, "A singular perturbation based global dynamic high gain scaling control design for systems with nonlinear input uncertainties," IEEE Trans. on Automatic Control, vol. 58, no. 10, pp. 26862692, Oct. 2013.

P. Krishnamurthy, F. Khorrami,T.L. Ng and I. Cherepinsky, ``Control design and implementation for Sawyer motors used in manufacturing systems'' IEEE Transactions on Control Systems Technology, vol. 19, no. 6, pp. 14671478, Nov. 2011.

P. Krishnamurthy and F. Khorrami, ``Adaptive outputfeedback control of a general class of uncertain feedforward systems via a dynamic scaling approach,'' IET Control Theory and Applications, vol. 5, no. 5, pp. 681692, March 2011.
 P. Krishnamurthy and F. Khorrami, ``Decentralized outputfeedback control of largescale interconnected systems via dynamic highgain scaling,''
Chapter in Edited Book: Efficient Modeling and Control of LargeScale Systems. Springer, pp. 135165, 2010.
 P. Krishnamurthy and F. Khorrami, ``Outputfeedback control of
nonlinear delayed systems: A dynamic highgain scaling approach,'' Dynamics of Continuous, Discrete and Impulsive Systems. Special Issue. vol. 17, no. 6, pp. 909934, 2010.
 S. Puranik, A. Keyhani, and F. Khorrami, ``Statespace modeling of proton exchange membrane fuel cell,'' IEEE Transactions on Energy Conversion. vol. 25, no. 3, pp. 804813, July 2010.
 S. Puranik, A. Keyhani, and F. Khorrami, ``Neural network modeling of proton exchange membrane fuel cell
,'' IEEE Transactions on Energy Conversion. vol. 25, no. 2, pp. 474483, June 2010.
 P. Krishnamurthy, W. Lu, F. Khorrami, and A. Keyhani, ``Robust force control of an SRMbased electromechanical brake and experimental results,'' IEEE Transactions on Control Systems Technology, vol. 17, no. 6, pp. 13061317, Dec. 2009.
 P. Krishnamurthy and F. Khorrami, ``Application of a dynamic highgain scaling methodology to servocompensator design
,'' International Journal of Robust and Nonlinear Control, vol. 19,
no. 8, pp. 937964, May 2009.
 P. Krishnamurthy, F. Khorrami, and D. Schoenwald, ``Decentralized
inventory control for largescale reverse supply chains: A computationally
tractable approach,'' IEEE Transactions on Systems, Man, and Cybernetics,
Part C, vol. 38, no. 4, pp. 551561, July 2008.
 P. Krishnamurthy and F. Khorrami, ``Feedforward systems with ISS appended
dynamics: Adaptive outputfeedback stabilization and disturbance attenuation
,'' IEEE Transactions on Automatic Control, vol. 53, no. 1, pp. 405412, Feb. 2008.
 P. Krishnamurthy and F. Khorrami, ``Dual HighGain Based Adaptive
OutputFeedback Control for a Class of Nonlinear systems,'' International
Journal of Adaptive Control and Signal Processing, vol. 22, no. 1, pp. 2342, Feb. 2008.
 P. Krishnamurthy and F. Khorrami, ``TRIM: An ultraaccurate highspeed
sixdegreeoffreedom manipulator using step motors," Journal of
Intelligent and Robotic Systems, vol. 51, pp. 137157, Feb. 2008.
 P. Krishnamurthy and F. Khorrami, ``An analysis of the effects of
closedloop commutation delay on stepper motor control and application to
parameter estimation,'' IEEE Transactions on Control Systems Technology,
vol.16, no.1, pp. 7077, Jan. 2008.
 P. Krishnamurthy and F. Khorrami, ``GODZILA: A lowresource algorithm for
path planning in unknown environments,'' Journal of Intelligent and Robotic
Systems, vol. 48, no. 3, pp. 357356, March 2007.
 P. Krishnamurthy and F. Khorrami, ``Generalized state scaling and
applications to feedback, feedforward, and nontriangular nonlinear systems,''
IEEE Transactions on Automatic Control, vol. 52, no. 1, pp. 102108,
Jan. 2007.
 P. Krishnamurthy and F. Khorrami, ``Highgain outputfeedback control for
nonlinear systems based on multiple time scaling,'' Systems and Control
Letters, vol. 56, no. 1, pp. 715, 2007.
 P. Krishnamurthy and F. Khorrami, ``On uniform solvability of
parameterdependent Lyapunov inequalities and applications to various problems,''
SIAM Journal of Control and Optimization, vol. 45, no. 4, pp.
11471164, 2006.
 P. Krishnamurthy and F. Khorrami, ``Robust adaptive control of Sawyer
motors without current measurements,'' IEEE/ASME Transactions on
Mechatronics, vol. 9, no. 4, pp. 689696, Dec. 2004.
 P. Krishnamurthy and F. Khorrami, ``Dynamic highgain scaling: state and
output feedback with application to systems with ISS appended dynamics driven
by all states,'' IEEE Transactions on Automatic Control, vol. 49, no.
12, pp. 22192239, Dec. 2004.
 P. Krishnamurthy and F. Khorrami, ``A highgain scaling technique for
adaptive output feedback control of feedforward systems,'' IEEE
Transactions on Automatic Control, vol. 49, no. 12, pp. 22862292, Dec.
2004.
 P. Krishnamurthy and F. Khorrami, ``Voltagefed permanentmagnet stepper
motor control via positiononly feedback,'' IEE Proceedings on Control
Theory and Applications, vol. 151, no. 4, pp. 499510, July 2004.
 P. Krishnamurthy, F. Khorrami, and R. S. Chandra, ``Global highgain based
observer and backstepping controller for generalized outputfeedback canonical
form,'' IEEE Transactions on Automatic Control, vol. 48, no. 12, pp.
22772284, Dec. 2003.
 P. Krishnamurthy and F. Khorrami, `` Decentralized control and disturbance
attenuation for largescale nonlinear systems in generalized outputfeedback
canonical form,'' Automatica, vol. 39, no. 11, pp. 19231933, Nov.
2003.
 P. Krishnamurthy and F. Khorrami, `` Robust adaptive voltagefed permanent
magnet step motor control without current measurements,'' IEEE Transactions
on Control Systems Technology, vol. 11, no. 3, pp. 415425, May 2003.
 P. Krishnamurthy and F. Khorrami, `` Robust adaptive control for
nonlinear systems in generalized outputfeedback canonical form,''
International Journal of Adaptive Control and Signal Processing, vol. 17,
no. 4, pp. 285311, May 2003.
 P. Krishnamurthy, F. Khorrami, and Z. P. Jiang, `` Global output feedback
tracking for nonlinear systems in generalized outputfeedback canonical form,''
IEEE Transactions on Automatic Control, vol. 47, no. 5, pp. 814819,
May 2002.
 H. Melkote and F. Khorrami, `` Robust adaptive control of variable
reluctance stepper motors,'' IEEE Transactions on Control Systems
Technology, vol. 7, no. 2, pp. 212221, March 1999.
 H. Melkote and F. Khorrami, `` Nonlinear adaptive control of direct drive
brushless DC motors and applications to robotic manipulators,'' IEEE/ASME
Transactions on Mechatronics, vol. 4, no. 1, pp. 7181, March 1999.
 H. Melkote and F. Khorrami, `` Robust nonlinear control and torque ripple
reduction for permanent magnet stepper motors,'' IEE Proceedings on Control
Theory and Applications, vol. 146, no. 2, March 1999.
 S. Jain and F. Khorrami, `` Robust adaptive control of flexible joint
manipulators,'' Automatica, vol. 34, no. 5, March 1998.
 J. J. Bongiorno, F. Khorrami, and T. C. Lin, ``A WienerHopf approach to
tradeoffs between stability margin and performance in two and three
degreeoffreedom multivariable control systems," International Journal of
Control vol. 68, no. 6, pp. 13371366, Dec. 1997.
 S. Jain and F. Khorrami, "Decentralized adaptive output feedback design
for large scale nonlinear systems," IEEE Trans. on Automatic Control,
vol. 42, no. 5, pp. 729735, May 1997.
 S. Jain and F. Khorrami, "Robust decentralized control of power systems
utilizing only swing angle measurements," International Journal of Control,
vol. 66, no. 4, pp. 581601, March 1997.
 S. Jain and F. Khorrami, "Decentralized adaptive control of a class of
large scale interconnected nonlinear systems," IEEE Trans. on Automatic
Control, vol. 42, no. 2, pp. 136154, Feb. 1997.
 S. Jain, F. Khorrami, and B. Fardanesh, "Decentralized stabilization and
control of largescale power systems with unknown interconnections,"
International Journal of Control ,vol. 63, no. 3 , pp. 591608, Feb. 1996.
 S. Jain, P.Y. Peng, A. Tzes, and F. Khorrami, "Genetic neural network
based control of flexible link manipulators," Journal of Intelligent and
Robotic Systems, vol. 15, pp. 135151, 1996.
 S. Jain and F. Khorrami, "Positioning of unknown flexible payloads for
robotic arms using a wristmounted force/torque sensor," IEEE Trans. on
Control Systems Technology, vol. 3, no. 2, pp. 189201, June 1995.
 F. Khorrami, S. Jain, and A. Tzes, "Experimental results on adaptive
nonlinear control and input preshaping for flexible link manipulators,"
Automatica, vol. 31, no. 1, pp. 8397, Feb. 1995.
 S. Jain, F. Khorrami, and B. Fardanesh, "Adaptive nonlinear excitation
control of power systems with unknown interconnections," IEEE Trans. on
Control Systems Technology, vol. 2, no. 4, pp. 436446, Dec. 1994.
 I. J. Zeinoun and F. Khorrami, "An adaptive control scheme based on fuzzy
and its application to smart structures," Journal of Smart Materials and
Structures, vol. 3, no. 3, pp. 266276, 1994.
 F. Khorrami, S. Jain, and A. Tzes, "Experiments on rigid body based
controllers with input preshaping for a twolink flexible manipulator," IEEE
Transaction on Robotics and Automation, vol. 10, no. 1, pp. 5565, Feb.
1994.
 A. Tzes, P. Y. Peng, and F. Khorrami, "Fuzzy neural network control for a
single flexible link manipulator," Journal of Intelligent and Fuzzy Systems,
vol. 1, no. 4, pp. 319334, Nov. 1993.
 F. Khorrami and S. Jain, "Nonlinear control with endpoint acceleration
feedback for a twolink flexible manipulator: experimental results," Journal
of Robotic Systems, vol. 10, no. 4, pp. 505530, June 1993.
Refereed Conference Papers (appeared and accepted)

H. Salehghaffari, P. Krishnamurthy, and F. Khorrami,
"A Game Theoretic Approach to Design a Resilient Controller For a Nonlinear Discrete System," in Proceedings of the IFAC World Congress , (Toulouse, France), to appear, July 2017.

P. Krishnamurthy and F. Khorrami, "Global Stabilization of Triangular Systems with TimeDelayed Dynamic Input Perturbations," in Proceedings of the International Carpathian Control Conference (ICCC) , (Sinaia, Romania), to appear, May 2017.

P. Krishnamurthy and F. Khorrami, "A Distributed Monitoring Approach for Human Interaction
with MultiRobot Systems"
in Proceedings of the Conference on HumanRobot Interaction (HRI) , (Vienna, Austria), March 2017.

N. Patel, P. Krishnamurthy, Y. Fang, and F. Khorrami, "Reducing Operator Workload for Indoor Navigation of
Autonomous Robots via Multimodal Sensor Fusion"
in Proceedings of the Conference on HumanRobot Interaction (HRI) , (Vienna, Austria), March 2017.

A. Keliris, H. Salehghaffari, B. Cairl, P. Krishnamurthy, M. Maniatakos, and
F. Khorrami, "Machine learningbased defense against processaware attacks
on industrial control systems"
in Proceedings of the International Test Conference (ITC) , (Fort Worth, TX), Nov. 2016.

P. Krishnamurthy and F. Khorrami, "A dynamic control redesign procedure for uncertain nonlinear systems subjected to input unmodeled dynamics"
in Proceedings of the American Control Conference (ACC) , (Boston, MA), pp. 29242929, July 2016.

B.Cairl and F. Khorrami, "Trunk Stabilization of MultiLegged Robots Using OnLine Learning Via a NARX Neural Network Compensator"
in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , (Hamburg, Germany), pp.62986303, Sept. 2015.

G. Brooks, P. Krishnamurthy, and F. Khorrami, "LowProfile Crawling for Humanoid Motion in Tight Spaces"
in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , (Hamburg, Germany), pp.5930  5935, Sept. 2015.

P. Krishnamurthy and F. Khorrami, "Decentralized OutputFeedback for Delayed LargeScale Interconnected Nonlinear Systems via Dynamic HighGain Scaling"
in Proceedings of the IFAC Symposium on Robust Control Design (ROCOND) , (Bratislava, Slovakia), pp. 247252, July 2015.

P. Krishnamurthy and F. Khorrami, "MultipleDynamicScaling OutputFeedback Control for Uncertain StrictFeedbackLike Systems with Input Unmodeled Dynamics"
in Proceedings of the American Control Conference , (Chicago, IL), pp. 2685  2690, July 2015.

P. Krishnamurthy and F. Khorrami, "A Control Design for Quad Rotor UAVs with Input Unmodeled
Dynamics"
in Proceedings of the Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON) , (Saint Petersburg, Russia), pp. 227232, June 2015.

P. Krishnamurthy and F. Khorrami, "A Dynamic Scaling Based Control Redesign Procedure for Uncertain Nonlinear Systems with Input Unmodeled Dynamics,"
in Proceedings of the IFAC World Congress , (Cape Town, South Africa), pp. 37083713, August 2014.

P. Krishnamurthy and F. Khorrami, "OutputFeedback Control for Nonlinear Systems with Fully Coupled Input Unmodeled Dynamics Via Dual Dynamic Scaling,"
in Proceedings of the American Control Conference , (Portland, OR), pp. 11681173, June 2014.

P. Krishnamurthy and F. Khorrami, "Dynamic High Gain Scaling Based Output Feedback for Nonlinear Systems with TimeDelayed Input Unmodeled Dynamics,"
in Proceedings of the European Control Conference , (Strasbourg, France), pp. 1777  1782, June 2014.

G. Brooks, P. Krishnamurthy, and F. Khorrami, "A MultiGait Approach for Humanoid Navigation in Cluttered Environments,"
in Proceedings of the Chinese Conference on Decision and Control , (Changsha, China), May 2014.

G. Brooks, P. Krishnamurthy, and F. Khorrami, "Humanoid robot navigation and obstacle avoidance in unknown environments," in Proceedings of the Asian Control Conference , (Istanbul, Turkey), June 2013.

P. Krishnamurthy and F. Khorrami, "A selfaligning underwater navigation system based on fusion of multiple sensors including DVL and IMU," in Proceedings of the Asian Control Conference , (Istanbul, Turkey), June 2013.
 J. Overstreet and F. Khorrami, "Multiordered shortrange mover prediction models for tracking and avoidance," in Proceedings of the IEEE Conference on Decision and Control , (Maui, HI), pp. 17701775, Dec. 2012.
 J. Overstreet, F. Khorrami, and P. Krishnamurthy, "Belief convergence to facilitate cooperative behaviors," in Proceedings of the IEEE Conference on Decision and Control , (Maui, HI), pp. 124129, Dec. 2012.
 P. Krishnamurthy and F. Khorrami, "A hierarchical control and obstacle avoidance system for Unmanned Sea Surface Vehicles," in Proceedings of the IEEE Conference on Decision and Control and European Control Conference , (Orlando, FL), pp. 20702075, Dec. 2011.
 P. Krishnamurthy and F. Khorrami, "Adaptive outputfeedback control of planar hybrid step motors using positiononly feedback," in Proceedings of the IEEE International Conference on Control and Automation , (Santiago, Chile), pp. 567572, Sep. 2011.
 P. Krishnamurthy and F. Khorrami, "A generalized scaling based control design for nonlinear nontriangular systems with input and state time delays," in Proceedings of the American Control Conference , (San Francisco, CA), June 2011.
 F. Khorrami, "Smart grid panel: challenges and issues," Presentation at the American Control Conference , (San Francisco, CA), June 2011.
 J. Overstreet and F. Khorrami, "Firstorder shortrange mover prediction model (SRMPM)," in Proceedings of the American Control Conference , (San Francisco, CA), June 2011.
 J. Overstreet and F. Khorrami, "Decentralized swarming beliefs of distributed autonomous heterogeneous system," in Proceedings of the American Control Conference , (San Francisco, CA), June 2011.
 P. Krishnamurthy and F. Khorrami, "Autonomous navigation and obstacle avoidance systems for unmanned vehicles," in Proceedings of the American Control Conference , (San Francisco, CA), June 2011.
 P. Krishnamurthy and F. Khorrami, "Adaptive backstepping and thetaD based controllers for a tiltrotor aircraft," in Proceedings of the Mediterranean Control Conference , (Corfu, Greece), June 2011.
 P. Krishnamurthy and F. Khorrami, "A hierarchical robust adaptive control augmentation system for tiltrotor aircraft and simulationbased evaluations," in Proceedings of the 2011 American Helicopter Society 67th Annual Forum, (Virginia Beach, VA), May 2011.
 P. Krishnamurthy and F. Khorrami, "A singular perturbation based approach for systems with nonlinear input uncertainties," in Proceedings of the Chinese Conference on Decision and Control , (Mianyang, China), May 2011.
 P. Krishnamurthy and F. Khorrami, ``Dynamic scaling based global output feedback for systems with input uncertainties via a singular perturbation redesign,'' in Proceedings of the IEEE Conference on Decision and Control , (Atlanta, GA), Dec. 2010.
 P. Krishnamurthy and F. Khorrami, ``Adaptive output feedback for nonlinear feedforward systems with multiple state and input delays via dynamic highgain scaling,'' in Proceedings of the Chinese Control Conference , (Beijing, China), July 2010.
 P. Krishnamurthy and F. Khorrami, ``Adaptive dynamic highgain scaling based outputfeedback control of nonlinear feedforward systems with time delays in input and state,'' in Proceedings of the American Control Conference, (Baltimore, MD), pp.57945799, June 2010.
 P. Krishnamurthy, F. Khorrami, J. de Leeuw, M. E. Porter, K. Livingston, J. H. Long, Jr., ``An electric ray inspired biomimetic autonomous underwater vehicle,'' in Proceedings of the American Control Conference, (Baltimore, MD), pp. 52245229, June 2010.
 P. Krishnamurthy and F. Khorrami, ``Robust adaptive control of uncertain inputperturbed systems via a singular perturbation redesign through dynamic highgain scaling,'' in Proceedings of the IASTED Conference on Control, Diagnostics, and Automation, (Novosibirsk, Russia), June 2010.
 F. Khorrami, S. Puranik, A. Keyhani, P. Krishnamurthy, and Y. She, ``PEM fuel cell distributed generation system: modeling and robust nonlinear control,'' in Proceedings of the 2009 IEEE Conference on Decision and Control, (Shanghai, China), pp. 78607865, Dec. 2009.
 P. Krishnamurthy and F. Khorrami, ``Outputfeedback control of feedforward nonlinear delayed systems through dynamic highgain scaling,'' in Proceedings of the 2009 IEEE Conference on Decision and Control, (Shanghai, China), pp. 712, Dec. 2009.
 P. Krishnamurthy and F. Khorrami, ``Dynamic highgain scaling based outputfeedback control of nonlinear delayed systems,'' in Proceedings of the 2009 European Control Conference, (Budapest, Hungary), Aug. 2009.
 P. Krishnamurthy, F. Khorrami, J. de Leeuw, M. E. Porter, K. Livingston, J. H. Long, Jr., ``A multibody approach for 6DOF modeling of biomimetic autonomous underwater vehicles with simulation and experimental results,'' in Proceedings of the IEEE MultiConference on Systems and Control, (St. Petersburg, Russia), pp. 12821287, July 2009.
 Q. Lam, P. Krishnamurthy, and F. Khorrami, ``Enhancing flight control system performance using SDRE based controller as an augmentation layer,'' in Proceedings of the 2009 AIAA GN&C Conference, (Chicago, IL), Aug. 2009.
 P. Krishnamurthy and F. Khorrami, ``Decentralized outputfeedback control of largescale nonlinear systems based on highgain multiple time scaling,'' in Proceedings of the 2009 American Control Conference, (St. Louis, MO), June 2009.
 F. Khorrami and P. Krishnamurthy, ``A hierarchical path planning and obstacle avoidance system for an autonomous underwater vehicle,'' in Proceedings of the 2009 American Control Conference, (St. Louis, MO), pp.35793584, June 2009.
 P. Krishnamurthy, F. Khorrami, and Q. Lam, ``Robust adaptive control and motion planning of twinrotor aircraft in shipboard operation,'' in Proceedings of the 2009 American Helicopter Society 65th Annual Forum, (Grapevine, TX), May 2009.
 P. Krishnamurthy, F. Khorrami, and Q. Lam, ``Robust adaptive control of a twinrotor aircraft,'' in Proceedings of the 2008 IEEE Conference on Decision and Control, (Cancun, Mexico), pp. 590595, Dec. 2008.
 P. Krishnamurthy, F. Khorrami, and T. L. Ng, ``Obstacle avoidance for unmanned sea surface vehicles: a hierarchical approach,''
in Proceedings of the 2008 IFAC World Congress ,
(Seoul, Korea), July 2008.
 P. Krishnamurthy and F. Khorrami, ``Decentralized robust adaptive control of uncertain nonlinear systems using dual high gain,''
in Proceedings of the 2008 Chinese Control Conference ,
(Kunming, China), pp. 735739, July 2008.
 P. Krishnamurthy, F. Khorrami, and T. L. Ng, ``Control design for unmanned
sea surface vehicles: Hardwareintheloop simulator and experimental results,''
in Proceedings of the 2007 International Conference on Robots and Systems,
(San Diego, CA), pp. 36603665, Oct. 2007.
 P. Krishnamurthy and F. Khorrami, ``Adaptive output feedback
servocompensator design using highgain scaling,'' in Proceedings of the
2007 IFAC Workshop on Adaptive and Learning in Control and Signal Processing,
(St. Petersburg, Russia), Aug. 2007.
 P. Krishnamurthy and F. Khorrami, ``Adaptive outputfeedback control
of feedforward system with uncertain parameters coupled with all states,'' in
Proceedings of the 2007 American Control Conference, (New York, New
York), pp. 480485, July 2007.
 P. Krishnamurthy and F. Khorrami, ``An Adaptive highgain multiple
time scalig based output feedback controller and application to
servocompensator design,'' in Proceedings of the 2007 European Control
Conference, (Kos, Greece), July 2007.
 P. Krishnamurthy and F. Khorrami, ``A timeinvariant dual highgain
based adaptive outputfeedback controller for nonlinear systems,'' in
Proceedings of the 2006 IEEE Conference on Decision and Control, (San
Diego, CA), pp. 46334638, Dec. 2006.
[Pdf preprint]
 P. Krishnamurthy and F. Khorrami, ``Application of the dual
highgain scaling technique to decentralized control and disturbance
attenuation,'' in Proceedings of the 2006 IEEE Conference on Decision and
Control, (San Diego, CA), pp.46394644,Dec. 2006.
 P. Krishnamurthy and F. Khorrami, ``Effects of closedloop
commutation delay for various types of motors,'' in Proceedings of the 2006
IEEE Conference on Decision and Control, (San Diego, CA), Dec. 2006.
 P. Krishnamurthy and F. Khorrami, ``Adaptive dual highgain output
feedback global in unknown parameters for a class of nonlinear systems,'' in
Proceedings of the 2006 Chinese Control Conference , (Harbin, China),
pp. 20752080, Aug. 2006.
 P. Krishnamurthy, F. Khorrami, and D. Schoenwald, ``Computationally
tractable inventory control for largescale reverse supply chains,'' in
Proceedings of the 2006 American Control Conference , (Minneapolis, MN),
pp. 550555, June 2006.
 P. Krishnamurthy and F. Khorrami, ``On intriguing effects of
closedloop commutation delay in stepper motor control with application to
parameter estimation,'' in Proceedings of the 2006 American Control
Conference , (Minneapolis, MN), pp. 31703175,June 2006.
 P. Krishnamurthy and F. Khorrami, ``Adaptive outputfeedback
stabilization and disturbance attenuation for feedforward systems with ISS
appended dynamics,'' in Proceedings of the 2005 IEEE Conference on Decision
and Control/ European Control Conference , (Seville, Spain), pp.
77817786, Dec. 2005.
 P. Krishnamurthy, F. Khorrami, and S. Fujikawa, ``A modeling
framework for six degreeoffreedom control of unmanned sea surface vehicles,''
in Proceedings of the 2005 IEEE Conference on Decision and Control/
European Control Conference , (Seville, Spain), pp. 26762681, Dec. 2005.
 P. Krishnamurthy, W. Lu, F. Khorrami, and A. Keyhani, ``A robust
force controller for an SRM based electromechanical brake system,'' in
Proceedings of the 2005 IEEE Conference on Decision and Control/ European
Control Conference , (Seville, Spain), pp. 20062011, Dec. 2005.
 T. L. Ng, P. Krishnamurthy, F. Khorrami, and S. Fujikawa, ``Autonomous
flight control and hardwareintheloop simulator for a small helicopter," in
Proceedings of the 2005 IFAC World Congress, (Prague, Czech Republic),
July 2005.
 P. Krishnamurthy and F. Khorrami, ``GODZILA: A lowresource algorithm for
path planning in unknown environments," in Proceedings of the 2005 American
Control Conference, (Portland, OR), pp. 110115, June 2005.
 P. Krishnamurthy, F. Khorrami, T. L. Ng, and I. Cherepinsky, ``Control
design implementation for Sawyer motors used in manufacturing systems," in
Proceedings of the 2005 American Control Conference, (Portland, OR), pp.
30543059, June 2005.
 P. Krishnamurthy and F. Khorrami, ``Generalized state scalingbased robust
control of nonlinear systems and applications to triangular systems," in
Proceedings of the 2005 American Control Conference, (Portland, OR), pp.
34273432, June 2005.
 P. Krishnamurthy and F. Khorrami, ``Adaptive outputfeedback for nonlinear
systems with no a priori bounds on parameters," in Proceedings of the 2005
American Control Conference, (Portland, OR), pp. 37133718, June 2005.
 P. Krishnamurthy and F. Khorrami, ``Dynamic high gain scaling: An
application to robust adaptive output feedback for feedforward systems," in
Proceedings of the 2004 Asian Control Conference, (Melbourne, Australia),
pp. 20392047, July 2004.
 P. Krishnamurthy and F. Khorrami, ``Conditions for uniform solvability of
parameterdependent Lyapunov equations with applications," in Proceedings
of the 2004 American Control Conference, (Boston, MA), pp. 38963901, July
2004.
 P. Krishnamurthy and F. Khorrami, ``A high gain multiple timescaling
technique for global control of nonlinear systems," in Proceedings of the
2004 American Control Conference, (Boston, MA), pp. 23852390, July 2004.
 P. Krishnamurthy and F. Khorrami, ``Global adaptive control of feedforward
systems using dynamic high gain scaling," in Proceedings of the 2004
American Control Conference, (Boston, MA), pp. 43544359, July 2004.
 P. Krishnamurthy and F. Khorrami, ``Global robust control of feedforward
systems: statefeedback and outputfeedback," in Proceedings of the 2003
IEEE Conference on Decision and Control, (Maui, HI), pp. 61456150, Dec.
2003.
 P. Krishnamurthy and F. Khorrami, ``Global robust statefeedback for
nonlinear systems via dynamic highgain scaling," in Proceedings of the
2003 IEEE Conference on Decision and Control, (Maui, HI), pp. 61396144,
Dec. 2003.
 A. J. Spivack, F. Khorrami, R. J. Cava, D. B. Dowling, and O. Kocabayoglu,
``ZETA^{n}  Corrosion protection of steel," in Proceedings of the
13th AsianPacific Corrosion Control Conference, , (Osaka, Japan), Nov.
2003.
 P. Krishnamurthy and F. Khorrami, ``TriM: An ultraaccurate highspeed six
degreeoffreedom manipulator using linear motors," in Proceedings of the
2003 IEEE/RSJ International Conference on Intelligent Robots and Systems,
( Las Vegas, NV), Oct. 2003.
 P. Krishnamurthy and F. Khorrami, `` Decentralized disturbance attenuating
control for largescale nonlinear interconnected systems," in Proceedings
of the 2003 American Control Conference, (Denver, CO), pp. 50285033, June
2003.
 P. Krishnamurthy and F. Khorrami, `` A dual high gain controller for the
uncertain generalized outputfeedback canonical form with appended dynamics
driven by all states," in Proceedings of the 2003 American Control
Conference, (Denver, CO), pp. 47664771, June 2003.
 P. Krishnamurthy and F. Khorrami, `` Adaptive partialstate feedback
control for induction motors," in Proceedings of the 2003 American Control
Conference, (Denver, CO), pp. 40594064, June 2003.
 P. Krishnamurthy and F. Khorrami, `` Generalized adaptive outputfeedback
form with unknown parameters multiplying high output relativedegree states,"
in Proceedings of the 2002 IEEE Conference on Decision and Control,
(Las Vegas, NV), pp. 15031508, Dec. 2002.
 P. Krishnamurthy, F. Khorrami, and R. S. Chandra `` A global highgain
based scaling method for the generalized outputfeedback canonical form," in
Proceedings of the 2002 IEEE Conference on Decision and Control, (Las
Vegas, NV), pp. 38493854, Dec. 2002.
 P. Krishnamurthy and F. Khorrami, `` Permanent magnet stepper motor
control via positiononly feedback," in Proceedings of the 2002 American
Control Conference, (Anchorage, AK), pp. 31803185,May 2002.
 P. Krishnamurthy and F. Khorrami, `` Robust control of permanent magnet
stepper motors using only rotor position and velocity," in Proceedings of
the 2001 IEEE Conference on Decision and Control, (Orlando, FL), pp.
26372642, Dec. 2001.
 P. Krishnamurthy, F. Khorrami, and Z. P. Jiang, `` Generalized nonlinear
outputfeedback canonical form: global output tracking," in Proceedings of
the 2001 IEEE Conference on Decision and Control, (Orlando, FL), pp.
13801385, Dec. 2001.
 P. Krishnamurthy and F. Khorrami, `` Decentralized control of largescale
nonlinear systems in generalized outputfeedback canonical form," in
Proceedings of the 2001 IEEE Conference on Decision and Control, (Orlando,
FL), pp. 13221327, Dec. 2001.
 P. Krishnamurthy and F. Khorrami, ``Robust adaptive control of Sawyer
motors without current measurements," in Proceedings of the 2001 IASTED
International Conference on Intelligent Systems and Control, (Clearwater,
FL), Nov. 2001.
 P. Krishnamurthy and F. Khorrami, ``Voltagefed permanent magnet stepper
motor control with position only feedback," in Proceedings of the 2001 IEEE
International Conference on Control Applications, (Mexico City), pp.
265270, Sep. 2001.
 P. Krishnamurthy and F. Khorrami, ``Adaptive control of stepper motors
without current measurements," in Proceedings of the 2001 American Control
Conference, (Arlington, VA), pp. 15631568, June 2001.
 P. Krishnamurthy and F. Khorrami, ``Global adaptive output feedback
tracking for nonlinear systems linear in unmeasured states," in Proceedings
of the 2001 American Control Conference, (Arlington, VA), pp. 48144819,
June 2001.
 P. Krishnamurthy, F. Khorrami, and Z. P. Jiang, ``Global output feedback
tracking for nonlinear systems in generalized outputfeedback canonical form,"
in Proceedings of the 2001 American Control Conference, (Arlington,
VA), pp. 42414246, June 2001.
 Z. Wang and F. Khorrami, ``Robust stabilization of nonlinear uncertain
systems in the presence of input unmodeled dynamics," in Proceedings of the
2000 IEEE Conference on Decision and Control, (Sydney, Australia), pp.
30253030, December 2000.
 Z. Wang, H. Melkote, and F. Khorrami, ``Robust adaptive friction
compensation in servodrives using position measurement only," in
Proceedings of the 2000 IEEE International Conference on Control Applications,
(Anchorage, AK), pp. 178183, September 2000.
 Z. Wang and F. Khorrami, ``Robust trajectory tracking for manipulators
with joint flexibility via backstepping," in Proceedings of the 2000
American Control Conference, (Chicago, IL), pp. 28492853, June 2000.
 Z. Wang, F. Khorrami, and W. Grossman, ``Robust adaptive control of
formationkeeping for a pair of satellites," in Proceedings of the 2000
American Control Conference, (Chicago, IL), pp. 834838, June 2000.
 Z. Wang, F. Khorrami, and Z. P. Jiang, ``Adaptive robust decentralized
control for interconnected largescale nonlinear systems," in Proceedings
of the 2000 American Control Conference, (Chicago, IL), pp. 347351, June
2000.
 Z. Wang, F. Khorrami, and Z. P. Jiang, ``Decentralized robust control for
a class of largescale nonlinear systems," in Proceedings of the 1999 IEEE
Conference on Decision and Control, (Phoenix, AZ), pp. 32893294, December
1999.
 Z. P. Jiang, F. Khorrami, and D. Hill, ``Decentralized output feedback
control with disturbance attenuation for a class of largescale nonlinear
systems," in Proceedings of the 1999 IEEE Conference on Decision and
Control, (Phoenix, AZ), pp. 32713276, December 1999.
 H. Melkote and F. Khorrami, ``Nonlinear output feedback control for
stepper motors: A robust adaptive approach," in Proceedings of the 1999
IEEE Conference on Control Applications, Hawaii, pp. 755760, August 1999.
 H. Melkote and F. Khorrami, ``Output feedback control of a three
degreeoffreedom linear stepper motor with position measurements only,'' in
Proceedings of the 1999 American Control Conference , (San Diego, CA),
pp. 25312535, June 1999.
 N. Ahmad and F. Khorrami, ``Adaptive control of systems with backlash
hysteresis at the input,'' in Proceedings of the 1999 American Control
Conference, (San Diego, CA), pp. 30183022, June 1999.
 S. Sankaranarayanan, H. Melkote and F. Khorrami, ``Adaptive variable
structure control of a class of nonlinear systems with nonvanishing
perturbations via backstepping,'' in Proceedings of the 1999 American
Control Conference, (San Diego, CA), pp. 44914495, June 1999.
 H. Melkote and F. Khorrami, ``Closedloop control of a base XY stage with
rotational degreeoffreedom for a highspeed ultraaccurate manufacturing
system,'' in Proceedings of the 1999 International Conference on Robotics
and Automation (ICRA), (Detroit, Michigan), pp. 18121817, May 1999.
 H. Melkote and F. Khorrami, ``Torque ripple attenuation for brushless DC
motors via adaptive variable structure control,'' in Proceedings of the
1998 IEEE Conference on Decision and Control, (Tampa, FL), pp. 46404645,
Dec. 1998.
 S. Jain and F. Khorrami ``Robust nonlinear control of hydraulic actuators
including drive flexibility and friction,'' in Proceedings of the 1998 IEEE
Conference on Control Applications, (Trieste, Italy), pp. 14091413, Sept.
1998.
 S. Sankaranarayanan and F. Khorrami, ``Model independent dynamic friction
compensation,'' in Proceedings of the 1998 American Control Conference,
(Philadelphia, PA), pp. 463467, June 1998.
 H. Melkote and F. Khorrami, ``Adaptive variable structure torque ripple
cancellation for permanent magnet stepper motors,'' in Proceedings of the
1998 American Control Conference, (Philadelphia, PA), pp. 10331037, June
1998.
 J. Rastegar, F. Khorrami, and M. Mattice, ``Development of a class of
quasidistributed vibration damping and micropositioning piezoelectric
ceramic based actuators,'' in Proceedings of the International Symposium on
Smart Structures and Materials, (San Diego, CA), March 1998.
 S. Sankaranarayanan and F. Khorrami, ``Adaptive variable structure control
and applications to friction compensation,'' in Proceedings of the 1997
IEEE Conference on Decision and Control, pp. 41594164, (San Diego, CA),
Dec. 1997.
 H. Melkote and F. Khorrami, ``A unified approach to adaptive nonlinear
control of stepper motors,'' in Proceedings of the 1997 IEEE Conference on
Decision and Control, (San Diego, CA), pp. 24952500, Dec. 1997.
 S. Sankaranarayanan and F. Khorrami, ``Friction compensation via variable
structure control: regulation and lowvelocity tracking,'' in Proceedings
of the 1997 IEEE Conference on Control Applications, (Hartford,
Connecticut), pp. 645650, Oct. 1997.
 H. Melkote and F. Khorrami, ``Closedloop control of a three
degreeoffreedom ultra accurate linear stepper motor,'' in Proceedings of
the 1997 IEEE Conference on Control Applications, (Hartford, Connecticut),
pp. 639644, Oct. 1997.
 H. Melkote and F. Khorrami, ``Robust adaptive control of direct drive
brushless DC motors and applications to robotic manipulators,'' in
Proceedings of the 1997 IEEE Conference on Control Applications, (Hartford,
Connecticut), pp. 288293, Oct. 1997.
 H. Melkote and F. Khorrami, ``Robust adaptive control of permanent magnet
stepper motors,'' in Proceedings of the 1997 European Control Conference,
(Brussels, Belgium), July 1997.
 S. Jain, F. Khorrami, N. Ahmad, and S. Sankaranarayanan, `` Friction
compensation for drives with and without transmission compliance,'' in
Proceedings of the 1997 American Control Conference, (Albuquerque, New
Mexico), pp. 29252929, June 1997.
 F. Khorrami, H. Melkote, and J. IshShalom, ``Advanced control system
design for high speed ultra accurate manufacturing systems,'' in
Proceedings of the 1997 American Control Conference, (Albuquerque, New
Mexico), pp. 164165, June 1997.
 F. Khorrami and N. Das, ``Microstrip antennas for wireless communication
in smart structures and active damping,'' in Proceedings of the 1996
Conference on Smart Structures and Materials,'' (San Diego, CA), Feb.
1997.
 H. Melkote, F. Khorrami, S. Jain, and M. Mattice, "Adaptive nonlinear
control of variable reluctance stepper motors," in Proceedings of the 1996
IEEE Conference on Decision and Control, (Kobe, Japan), pp. 47214724, Dec.
1996.
 F. Khorrami and N. Das, "Utilization of microstrip antennas for wireless
communication in smart structures," in Proceedings of the 1996 Workshop on
Smart Electromagnetic Antenna Structures, (Brussels, Belgium), pp.
21.121.13, Nov. 1996.
 Y. Qin, J. Rastegar, and F. Khorrami, "Design of a cleaning and
homogenization robot for large oil storage tanks," 1996 ASME Design
Technical Conference, Irvine, CA, August 1996.
 Z. Retchkiman and F. Khorrami, "The time optimal control problem for a
class of nonholonomic systems: A case study ," in Proceedings of the 13th
Triennial IFAC World Congress, (San Francisco, CA), pp. 449453, July
1996.
 H. Melkote, S. Jain, and F. Khorrami, "Robust adaptive nonlinear control
for electromechanical systems with structured and unstructured perturbations,"
in Proceedings of the 1996 World Automation Conference, (Montpellier,
France), May. 1996.
 Y. Qin, J. Rastegar, F. Khorrami and H. Melkote, "Design of a telerobotic
cleaning and inspection robotic system for large oil storage tanks," in
Proceedings of the 1996 World Automation Conference, (Montpellier, France),
May. 1996.
 F. Khorrami, S. Jain and N. Das, "Active vibration damping and pointing of
a flexible structure with piezoceramic stack actuators," in Proceedings of
the SPIE 1996 Symposium on Smart Structures and Materials," (San Diego,
CA), Feb. 1996.
 S. Jain and F. Khorrami, "Application of a decentralized adaptive output
feedback based on backstepping to power systems," in Proceedings of the
IEEE Conference on Decision and Control, (New Orleans, Louisiana), pp.
15851590, Dec. 1995.
 F. Khorrami, J. A. Lewinsohn, J. Rastegar, and S. Jain, "Inversion of
flexible manipulator dynamics via the Trajectory Pattern Method," in
Proceedings of the IEEE Conference on Decision and Control, (New Orleans,
Louisiana), pp. 33253330, Dec. 1995.
 S. Jain and F. Khorrami, "Application of a robust adaptive control design
for nonlinear systems to flexible joint manipulators," in Proceedings of
the IEEE Conference on Decision and Control, (New Orleans, Louisiana), pp.
28292834, Dec. 1995.
 F. Khorrami and J. Rastegar, "Simultaneous structure and control design
for a flexible pointing system actuated by active materials," in
Proceedings of the IEEE Conference on Decision and Control, (New Orleans,
Louisiana), pp. 43744379, Dec. 1995.
 S. Jain and F. Khorrami, "Decentralized Control of Large Scale Power
Systems with Unknown Interconnections," in Proceedings of the IEEE
Conference on Control Applications, (New Albany, New York), pp. 618623,
Sept. 1995.
 S. Jain and F. Khorrami, "Robust adaptive control of a class of nonlinear
systems: state and output feedback," in Proceedings of the American Control
Conference, (Seattle, Washington), pp. 15801584, June, 1995.
 J. J. Bongiorno, F. Khorrami, and T. C. Lin, "A WienerHopf approach to
tradeoffs between stability margin and performance in two and three
degreeoffreedom multivariable control systems," in Proceedings of the
American Control Conference, (Seattle, Washington), pp. 982987,
June, 1995.
 F. Khorrami and J. J. Bongiorno, "Application of H2
Design for vibration damping and pointing of flexible structures with embedded
smart materials," in Proceedings of the American Control Conference,
(Seattle, Washington), pp. 41784182, June, 1995.
 S. Jain and F. Khorrami, "Decentralized adaptive control of mismatched
large scale interconnected nonlinear systems," in Proceedings of the
Symposium on Nonlinear Control Systems Design, (Tahoe City, CA), pp.
314319, June, 1995.
 F. Khorrami, "Adaptive nonlinear control for endeffector position tracking
of multilink flexible manipulators with embedded active materials," in
Proceedings of the IEEE Conference on Decision and Control, (Orlando,
Florida), pp. 103108, Dec. 1994.
 J. Rastegar, F. Khorrami, and Z. Retchkiman, "Inversion of nonlinear
systems via the trajectory pattern method," in Proceedings of the IEEE
Conference on Decision and Control, (Orlando, Florida), pp. 23822387, Dec.
1994.
 F. Khorrami, "Adaptive control of flexiblelink manipulators with
piezoelectric ceramic sensors and actuators," in Proceedings of the
IFAC Symposium on Robot Control, (Capri, Italy), pp. 593598, Sept. 1994.
 Z. Retchkiman, F. Khorrami, and J. Rastegar "Trajectory planning and
openloop control for nonholonomic control systems," in Proceedings of the
1994 ASME Design Technical Conference, (Minneapolis, Minnesota), Sept.
1994.
 F. Khorrami, J. Rastegar, Q. Tu, "A neural network based learning
algorithm for trajectory patterns and its experimental implementation," in
Proceedings of the 5th International Symposium on Robotics and Manufacturing,
(Maui, Hawaii), Aug. 1994.
 J. Rastegar, F. Khorrami, Q. Tu, and M. Bahrami, "Redundancy
Resolution Based on Dynamic Response Limitations of the Actuators," in
Proceedings of the 5th International Symposium on Robotics and
Manufacturing, (Maui, Hawaii), Aug. 1994.
 I. Zeinoun and F. Khorrami, "An adaptive fuzzy based controller and its
application to smart structures," in Proceedings of the American Control
Conference, (Baltimore, Maryland), pp. 575579, June 1994.
 S. Jain, P.Y. Peng, A. Tzes, and F. Khorrami, "Control of a singlelink
flexible manipulator with genetic neural networks," in Proceedings of the
American Control Conference, (Baltimore, Maryland), pp. 25702574, June
1994.
 F. Khorrami, A. Gornez, and M. Hills, "Utilization of torque wheels for
active damping of flexible manipulators" in Proceedings of the IEEE
International Conference on Robotics and Automation, (San Diego, CA), pp.
18161821, May 1994.
 F. Khorrami, S. Jain, "Vibration damping of flexible payloads through
force sensing for remote manipulator systems." in Proceedings of the
IEEE International Conference on Robotics and Automation, (San Diego, CA),
pp. 21192124, May 1994.
 I. Zeinoun and F. Khorrami, "Fuzzy based adaptive control for flexiblelink
manipulators actuated by piezoceramics," in Proceedings of the IEEE
International Conference on Robotics and Automation, (San Diego, CA), pp.
643648, May 1994.
 F. Khorrami and I. Zeinoun, "Fuzzyneural network based controls for smart
structures with piezoceramics sensors and actuators." in Proceedings
of the Smart Structures and Materials Conference, (Orlando, Florida), pp.
684695, Feb. 1994.
 S. Jain and F. Khorrami, "Adaptive nonlinear excitation control of
largescale power systems with unknown interconnections," in
Proceedings of the IEEE Conference on Decision and Control, (San Antonio,
Texas), pp. 37103715, Dec. 1993.
 J. Borowiec, A. Tzes, and F. Khorrami, "Adaptive hybrid positionforce
control for flexiblelink manipulators," in Proceedings of the 1993 ASME
Winter Annual Meeting, (New Orleans, LA), Nov. 1993.
 F. Khorrami, "Control designs for smart structures and their experimental
verification," in Proceedings of the ARO Meetings on Dynamic Response of
Composite Structures, (New Orleans, Louisiana), Aug. 1993.
 F. Khorrami, A. Gomez, M. Hills, "Positioning of flexible manipulators
using angular momentum exchange devices," in Proceedings of the 1993 IEEE
Regional Control Conference, (Newark, New Jersey), Aug. 1993.
 F. Khorrami, S. Jain, M. Mattice, and N. Coleman, "Rapid retargeting of a
flexible pointing system with structure mounted sensors and actuators," in
Proceedings of the 1993 American Control Conference, (San Francisco, CA),
pp. 16321637, June 1993.
 F. Khorrami, S. Jain, and A. Tzes, "Adaptive nonlinear control and input
preshaping for flexiblelink manipulators," in Proceedings of the
1993 American Control Conference, (San Francisco, CA), pp. 27052710, June
1993.
