F. Khorrami, P. Krishnamurthy, and H. Melkote,
*Modeling and Adaptive Nonlinear Control of Electric Motors,* Springer, Heidelberg, 2003.

Front and Back Covers

Table of Contents

Ordering - US/ Canada

Ordering - Europe and everywhere else

*Refereed Journal Papers
(appeared
and accepted)*

P. Krishnamurthy and F. Khorrami,
``Neural network modeling of proton exchange membrane fuel cell
,'' *IEEE Transactions on Energy Conversion*. To appear.

P. Krishnamurthy and F. Khorrami,
``Feedforward systems with ISS appended dynamics: Adaptive output-feedback stabilization and disturbance attenuation
,'' *IEEE Transactions on Automatic Control*. To appear.

P. Krishnamurthy, F. Khorrami, and D. Schoenwald,
``Decentralized inventory control for large-scale reverse supply chains:
A computationally tractable approach,'' *IEEE Transactions on Systems, Man, and Cybernetics*, Part C, vol. 38, no. 2, March 2008. To appear.

P. Krishnamurthy and F. Khorrami,
``Dual High-Gain Based Adaptive Output-Feedback Control for a Class of Nonlinear systems,'' *International Journal of Adaptive Control and Signal Processing*, vol. 22, no. 1, pp. 23-42, Feb. 2008.

P. Krishnamurthy and F. Khorrami,
``TRIM: An ultra-accurate high-speed six-degree-of-freedom manipulator
using step motors,"
*
Journal of Intelligent and Robotic Systems*, vol. 51, pp. 137-157,
Feb. 2008.

P. Krishnamurthy and F. Khorrami,
``An analysis of the effects of closed-loop commutation delay on stepper motor control and application to parameter estimation,'' *IEEE Transactions on Control Systems Technology*, vol.16, no.1, pp. 70-77, Jan. 2008.

P. Krishnamurthy and F. Khorrami,
``GODZILA: A low-resource algorithm for path planning in unknown
environments,''
*
Journal of Intelligent and Robotic Systems*, vol. 48, no. 3, pp. 357-356, March 2007.

P. Krishnamurthy and F. Khorrami,
``Generalized state scaling and applications to feedback, feedforward, and non-triangular nonlinear systems,''
*
IEEE Transactions on Automatic Control*, vol. 52, no. 1, pp. 102-108, Jan. 2007.

P. Krishnamurthy and F. Khorrami,
``High-gain output-feedback control for nonlinear systems based on multiple time scaling,''
*
Systems and Control Letters*, vol. 56, no. 1, pp. 7-15, 2007.

P. Krishnamurthy and F. Khorrami,
``On uniform solvability of parameter-dependent Lyapunov
inequalities and applications to various problems,''
*
SIAM Journal of Control and Optimization*, vol. 45, no. 4, pp. 1147-1164, 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. 689-696, Dec. 2004.

P. Krishnamurthy and F. Khorrami,
``Dynamic high-gain 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. 2219-2239, Dec. 2004.

P. Krishnamurthy and F. Khorrami,
``A high-gain scaling technique for adaptive output feedback control of feedforward systems,''
*
IEEE Transactions on Automatic Control*,
vol. 49, no. 12, pp. 2286-2292, Dec. 2004.

P. Krishnamurthy and
F. Khorrami,
``Voltage-fed permanent-magnet stepper motor control via
position-only feedback,'' *
IEE Proceedings on Control Theory and Applications*,
vol. 151, no. 4, pp. 499-510, July 2004.

P. Krishnamurthy, F. Khorrami, and R. S. Chandra,
``Global high-gain based observer and backstepping controller
for generalized output-feedback canonical form,'' *
IEEE Transactions on Automatic Control*, vol. 48, no. 12, pp. 2277-2284, Dec. 2003.

P. Krishnamurthy and F. Khorrami,
`` Decentralized control and disturbance attenuation
for large-scale nonlinear systems
in generalized output-feedback canonical form,'' *Automatica*, vol. 39, no. 11, pp. 1923-1933, Nov. 2003.

P. Krishnamurthy and F. Khorrami,
`` Robust adaptive voltage-fed permanent magnet step motor control without current measurements,'' *IEEE Transactions on Control Systems Technology*, vol. 11, no. 3, pp. 415-425, May 2003.

P. Krishnamurthy and F. Khorrami,
`` Robust adaptive control for non-linear systems in generalized output-feedback canonical form,'' *International Journal of Adaptive Control and Signal Processing*, vol. 17, no. 4, pp. 285-311, May 2003.

P. Krishnamurthy, F. Khorrami, and Z. P. Jiang,
`` Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form,'' *IEEE Transactions on Automatic Control*, vol. 47, no. 5, pp. 814-819, 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. 212-221, 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. 71-81, 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 Wiener-Hopf approach to tradeoffs between stability
margin and performance in two and three degree-of-freedom multivariable
control systems," *International Journal of Control* vol. 68, no. 6, pp. 1337-1366, 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.
729-735, 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. 581-601, 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. 136-154, Feb. 1997.

S. Jain, F. Khorrami,
and B. Fardanesh, "Decentralized stabilization and control of large-scale
power systems with unknown interconnections," *International Journal
of Control ,*vol. 63, no. 3 , pp. 591-608, 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. 135-151, 1996.

S. Jain and F. Khorrami,
"Positioning of unknown flexible payloads for robotic arms using a wrist-mounted
force/torque sensor," *IEEE Trans. on Control Systems Technology, *vol.
3, no. 2, pp. 189-201, June 1995.

F. Khorrami, S. Jain,
and A. Tzes, "Experimental results on adaptive nonlinear control and input
preshaping for flexiblelink manipulators," *Automatica, *vol. 31,
no. 1, pp. 83-97, 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. 436-446, 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. 266-276, 1994.

F. Khorrami, S. Jain,
and A. Tzes, "Experiments on rigidbody based controllers with input preshaping
for a twolink flexible manipulator," *IEEE Transaction on Robotics and
Automation, *vol. 10, no. 1, pp. 55-65, 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. 319-334,
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. 505-530, June 1993.

*Refereed Conference Papers
(appeared and accepted)*

P. Krishnamurthy, F. Khorrami,and T.L. Ng, ``Control design for unmanned sea surface vehicles: Hardware-in-the-loop simulator and experimental results,''
in * Proceedings of the 2007 International Conference on Robots and Systems*, (San Diego, CA), Oct. 2007. To appear.

P. Krishnamurthy and F. Khorrami, ``Adaptive output feedback servocompensator design using high-gain scaling,''
in * Proceedings of the 2007 IFAC Workshop on Adaptive and Learning in Control and Signal Processing*, (St. Petersburg, Russia), Aug. 2007. To appear.

P. Krishnamurthy and F. Khorrami, ``Adaptive output-feedback control of feedforward system with uncertain parameters coupled with all states,''
in * Proceedings of the 2007 American Control Conference*, (New York, New York), July 2007.

P. Krishnamurthy and F. Khorrami, ``An Adaptive high-gain 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 time-invariant dual high-gain based adaptive output-feedback controller for nonlinear systems,''
in * Proceedings of the 2006 IEEE Conference on Decision and Control*, (San Diego, CA), Dec. 2006. [Pdf preprint]

P. Krishnamurthy and F. Khorrami, ``Application of the dual high-gain scaling technique to decentralized control and disturbance attenuation,''
in * Proceedings of the 2006 IEEE Conference on Decision and Control*, (San Diego, CA), Dec. 2006.

P. Krishnamurthy and F. Khorrami, ``Effects of closed-loop 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 high-gain output feedback global in unknown parameters for a class of nonlinear systems,''
in * Proceedings of the 2006 Chinese Control Conference *, (Harbin, China), pp. 2075-2080, Aug. 2006.

P. Krishnamurthy, F. Khorrami, and D. Schoenwald, ``Computationally tractable
inventory control for large-scale reverse supply chains,'' in *
Proceedings of the 2006 American Control Conference *, (Minneapolis, MN), pp. 550-555, June 2006.

P. Krishnamurthy and F. Khorrami, ``On intriguing effects of closed-loop commutation delay
in stepper motor control with application to parameter estimation,'' in *
Proceedings of the 2006 American Control Conference *, (Minneapolis, MN), pp. 3170-3175,June 2006.

P. Krishnamurthy and F. Khorrami, ``Adaptive output-feedback 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. 7781-7786, Dec. 2005.

P. Krishnamurthy, F. Khorrami, and S. Fujikawa, ``A modeling framework for six
degree-of-freedom control of unmanned sea surface vehicles,'' in *
Proceedings of the 2005 IEEE Conference on Decision and Control/ European Control Conference *, (Seville,
Spain), pp. 2676-2681, 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. 2006-2011, Dec. 2005.

T. L. Ng, P.
Krishnamurthy, F. Khorrami, and S. Fujikawa, ``Autonomous flight control
and hardware-in-the-loop 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 low-resource algorithm for path planning in unknown environments," in * Proceedings of the 2005 American Control Conference*, (Portland, OR), pp. 110-115, 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. 3054-3059, June 2005.

P. Krishnamurthy and F.
Khorrami, ``Generalized state scaling-based robust control of nonlinear systems and applications to triangular systems," in * Proceedings of the 2005 American Control Conference*, (Portland, OR), pp. 3427-3432, June 2005.

P. Krishnamurthy and F.
Khorrami, ``Adaptive output-feedback for nonlinear systems with no a priori bounds on parameters," in * Proceedings of the 2005 American Control Conference*, (Portland, OR), pp. 3713-3718, 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. 2039-2047, July 2004.

P. Krishnamurthy and F.
Khorrami, ``Conditions for uniform solvability of parameter-dependent Lyapunov equations with applications," in * Proceedings of the 2004 American Control Conference*, (Boston, MA), pp. 3896-3901, July 2004.

P. Krishnamurthy and F.
Khorrami, ``A high gain multiple time-scaling technique for global control of nonlinear systems," in * Proceedings of the 2004 American Control Conference*, (Boston, MA), pp. 2385-2390, 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. 4354-4359, July 2004.

P. Krishnamurthy and F.
Khorrami, ``Global robust control of feedforward systems: state-feedback and output-feedback," in * Proceedings of the 2003 IEEE Conference on Decision and Control*, (Maui, HI), pp. 6145-6150, Dec. 2003.

P. Krishnamurthy and F.
Khorrami, ``Global robust state-feedback for nonlinear systems via dynamic high-gain scaling," in * Proceedings of the 2003 IEEE Conference on Decision and Control*, (Maui, HI), pp. 6139-6144, 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 Asian-Pacific Corrosion Control Conference,
*, (Osaka, Japan), Nov. 2003.

P. Krishnamurthy and F.
Khorrami, ``TriM: An ultra-accurate high-speed six degree-of-freedom 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 large-scale nonlinear interconnected systems," in * Proceedings of the 2003 American Control Conference*, (Denver, CO), pp. 5028-5033, June 2003.

P. Krishnamurthy and F.
Khorrami, `` A dual high gain controller for the uncertain generalized output-feedback canonical form with appended dynamics driven by all states," in * Proceedings of the 2003 American Control Conference*, (Denver, CO), pp. 4766-4771, June 2003.

P. Krishnamurthy and F.
Khorrami, `` Adaptive partial-state feedback control for induction motors," in * Proceedings of the 2003 American Control Conference*, (Denver, CO), pp. 4059-4064, June 2003.

P. Krishnamurthy and F.
Khorrami, `` Generalized adaptive output-feedback form with unknown parameters multiplying high output relative-degree states," in * Proceedings of the 2002 IEEE Conference on Decision and Control*, (Las Vegas, NV), pp. 1503-1508, Dec. 2002.

P. Krishnamurthy, F.
Khorrami, and R. S. Chandra `` A global high-gain based scaling method for the generalized output-feedback canonical form," in * Proceedings of the 2002 IEEE Conference on Decision and Control*, (Las Vegas, NV), pp. 3849-3854, Dec. 2002.

P. Krishnamurthy and F.
Khorrami, `` Permanent magnet stepper motor control via position-only feedback," in * Proceedings of the 2002 American Control Conference*, (Anchorage, AK), pp. 3180-3185,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. 2637-2642, Dec. 2001.

P. Krishnamurthy, F.
Khorrami, and Z. P. Jiang, `` Generalized nonlinear output-feedback canonical form: global output tracking," in * Proceedings of the 2001 IEEE Conference on Decision and Control*, (Orlando, FL), pp. 1380-1385, Dec. 2001.

P. Krishnamurthy and F.
Khorrami, `` Decentralized control of large-scale nonlinear systems in generalized output-feedback canonical form," in * Proceedings of the 2001 IEEE Conference on Decision and Control*, (Orlando, FL), pp. 1322-1327, 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, ``Voltage-fed permanent magnet stepper motor control with
position only feedback," in * Proceedings of the 2001 IEEE International
Conference on Control Applications*, (Mexico City), pp. 265-270, 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. 1563-1568,
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. 4814-4819,
June 2001.

P. Krishnamurthy, F.
Khorrami, and Z. P. Jiang, ``Global output feedback tracking for
nonlinear systems in generalized output-feedback canonical form," in *
Proceedings of the 2001 American Control Conference*, (Arlington, VA),
pp. 4241-4246,
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. 3025-3030, December
2000.

Z. Wang, H. Melkote, and
F. Khorrami, ``Robust adaptive friction compensation in servo-drives using
position measurement only," in * Proceedings of the 2000 IEEE
International Conference on Control Applications*, (Anchorage, AK),
pp. 178-183, 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. 2849-2853, 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. 834-838, June 2000.

Z. Wang, F. Khorrami, and Z. P. Jiang, ``Adaptive robust decentralized control for interconnected large-scale nonlinear systems," in * Proceedings of the 2000 American Control Conference*, (Chicago, IL), pp. 347-351, June 2000.

Z. Wang, F. Khorrami, and Z. P. Jiang, ``Decentralized robust control for a class of large-scale nonlinear systems," in * Proceedings of the 1999 IEEE Conference on Decision and Control*, (Phoenix, AZ), pp. 3289-3294, December 1999.

Z. P. Jiang, F. Khorrami, and D. Hill, ``Decentralized output feedback control with disturbance attenuation for a class of large-scale nonlinear systems," in * Proceedings of the 1999 IEEE Conference on Decision and Control*, (Phoenix, AZ), pp. 3271-3276, 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. 755-760, August 1999.

H. Melkote and F. Khorrami,
``Output feedback control of a three
degree-of-freedom linear stepper motor with position measurements only,'' in * Proceedings of the 1999 American Control Conference *,
(San Diego, CA), pp. 2531-2535, 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. 3018-3022, 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. 4491-4495, June 1999.

H. Melkote and F. Khorrami,
``Closed-loop control of a base XY stage with
rotational degree-of-freedom for a high-speed ultra-accurate manufacturing
system,'' in * Proceedings of the 1999 International Conference on Robotics and
Automation (ICRA), * (Detroit, Michigan), pp. 1812-1817, 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. 4640-4645, 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. 1409-1413, Sept. 1998.

S. Sankaranarayanan and F. Khorrami, ``Model
independent dynamic friction compensation,'' in *Proceedings of the
1998 American Control Conference*, (Philadelphia, PA), pp. 463-467, 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. 1033-1037, June 1998.

J. Rastegar, F. Khorrami, and M. Mattice, ``Development of a class of quasi-distributed vibration damping and micro-positioning
piezo-electric 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. 4159-4164, (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. 2495-2500, Dec. 1997.

S. Sankaranarayanan and
F. Khorrami, ``Friction compensation via variable structure control: regulation
and low-velocity tracking,'' in *Proceedings of the 1997 IEEE Conference
on Control Applications*, (Hartford, Connecticut), pp. 645-650, Oct. 1997.

H. Melkote and F. Khorrami,
``Closed-loop control of a three degree-of-freedom ultra accurate linear
stepper motor,'' in *Proceedings of the 1997 IEEE Conference on Control
Applications*, (Hartford, Connecticut), pp. 639-644, 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. 288-293, 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.
2925-2929, June 1997.

F. Khorrami, H. Melkote,
and J. Ish-Shalom, ``Advanced control system design for high speed ultra
accurate manufacturing systems,'' in *Proceedings of the 1997 American
Control Conference*, (Albuquerque, New Mexico), pp. 164-165, 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. 4721-4724, 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. 21.1-21.13, 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. 449-453, 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. 1585-1590, 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. 3325-3330, 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. 2829-2834, 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. 4374-4379, 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. 618-623, 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. 1580-1584, 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. 982-987, 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. 4178-4182, 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. 314-319, 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.
103-108, 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. 2382-2387, 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. 593-598, 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. 575-579, 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. 2570-2574, 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. 1816-1821, 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. 2119-2124,
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. 643-648, 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. 684-695, 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. 3710-3715, 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. 1632-1637,
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. 2705-2710, June 1993.