Publications (by topic)

Topics:

• System identification

• Stochastic feedback

• Building control

• Energy hubs

• Covert attacks on networked control systems

• Model predictive control (MPC)

• Model validation

• Robust control

• Distributed control

• Airborne wind energy (kites)

• Optimisation and optimal control

• Nonlinear systems

• Swiss free electron laser

• Formation control

• Aerospace, spacecraft and rockets

• Control of architectural cable net structures

• Power systems

• Magnetic bearings

• Automotive and engine control systems

• Metalorganic chemical vapor deposition (MOCVD) systems

• Control of flexible structures

• Human perception and control

• Modelling of PDEs

• Miscellaneous applications

This is a selected listing, and a few papers appear under more than one category.

System Identification

• M. van Haren, R. Smith, and T. Oomen, “System identification beyond the Nyquist frequency: A kernel-regularized approach,” Control Engineering Practice, vol. 164, pp. 106425, 2025.

• M. Khosravi and R. Smith, “Regularized Identification with Internal Positivity Side-Information,” SIAM Journal on Control and Optimization, vol. 68(1), pp. 26–56, 2025.

• M. Abdalmoaty and R. Smith, “Small Noise Analysis of Non-Parametric Closed-Loop Identification,” Conf. on Decision & Control, pp. 7988–7993, Dec., 2024. <code>

• A. Tsiamis, M. Abdalmoaty, R. Smith, J. Lygeros, “Finite Sample Frequency Domain Identification,” Conf. on Decision & Control, pp. 3025–3030, Dec., 2024.

• M. Abdalmoaty, J. Miller, M. Yin, and R. Smith, “Frequency-domain identification of discrete-time systems using sum-of-rational optimization,” IFAC Symposium on System Identification, IFAC PapersOnline, vol. 58(15), pp. 121–126, 2024. <code>

• M. Abdalmoaty, E.C. Balta, J. Lygeros, and R. Smith, “Online identification of stochastic continuous-time Wiener models using sampled data,” Proc. European Control Conference. pp. 935–940, 2024.

• R. Chen, A. Srivastava, M. Yin, and R.S. Smith, “Closed-loop identification of stabilized models using dual input–output parameterization,” European J. Control, vol. 80, pp. 101089, 2024. <code>

• M. Khosravi and R. Smith, “Kernel-based Impulse Response Identification with Side-Information on Steady-State Gain,” IEEE Trans. Automatic Control, vol. 68, no. 10, pp. 6401–6408, 2023.

• A. Srivistava, M. Yin, A. Iannelli, and R.S. Smith, “A Dual System-Level Parameterization for Identification from Closed-Loop Data,” in Proc. Conf. on Decision & Control, pp. 4506–4511, Dec., 2023. <code>

• M. Yin and R.S. Smith, “Error Bounds for Kernel-Based Linear System Identification With Unknown Hyperparameters,” IEEE Control Systems Letters, vol. 7, pp. 2491-2496, 2023. <code>

• M. Khosravi and R. Smith, “Kernel-based identification with frequency domain side-information,” Automatica, vol. 150, p. 110813, 2023.

• M. Khosravi and R. Smith, “The existence and uniqueness of solutions for kernel-based system identification,” Automatica, vol. 148, p. 110728, 2023.

• M. Yin, A. Iannelli, and R.S. Smith, “Maximum Likelihood Estimation in Data-Driven Modeling and Control,” IEEE Trans. Automatic Control, vol. 68, no. 1, pp. 317-328, 2023. <code> (Young Author Best Journal Paper Award 2023, Swiss Section IEEE CSS)

• M. Yin, M.T. Akan, A. Iannelli, and R.S. Smith, “Infinite-Dimensional Sparse Learning in Linear System Identification,” in Proc. Conf. on Decision & Control, Dec., 2022. <code>

• D.E. Ozan, M. Yin, A. Iannelli, and R.S. Smith, “Kernel-Based Identification of Local Limit Cycle Dynamics with Linear Periodically Parameter-Varying Models,” in Proc. Conf. on Decision & Control, Dec., 2022. (IEEE SIAC Tech. Committee Student paper award 2023)

• M. Yin, A. Iannelli, and R.S. Smith, “Data-Driven Prediction with Stochastic Data: Confidence Regions and Minimum Mean-Squared Error Estimates,” in Proc. European Control Conf., July, 2022. <code>

• A. Iannelli, M. Yin, and R.S. Smith, “Design of input for data-driven simulation with Hankel and Page matrices,” in Proc. Conf. on Decision & Control, Dec., 2021. <code>

• M. Yin, A. Iannelli and R.S. Smith, “Maximum Likelihood Signal Matrix Model for Data-Driven Predictive Control,” Learning for Dynamics & Control Conf., Proc. of Machine Learning Research, vol. 144, pp. 1004–1014, June, 2021. <code>

• A. Iannelli, M. Yin and R.S. Smith, “Experiment design for impulse response identification with signal matrix models,” in Proc. IFAC Symposium System Identification, IFAC PapersOnLine, vol. 54, no. 7, pp. 625–630, July, 2021. <code>

• M. Khosravi and R.S. Smith, “On Robustness of Kernel-Based Regularized System Identification,” in Proc. IFAC Symposium System Identification, IFAC PapersOnLine, vol. 54, no. 7, pp. 749–754, July, 2021.

• M. Yin and R.S. Smith, “On Low-Rank Hankel Matrix Denoising,” in Proc. IFAC Symposium System Identification, IFAC PapersOnLine, vol. 54, no. 7, pp. 198–203, July, 2021. <code>

• A. Iannelli and R.S. Smith, “The role of the state in model reduction with subspace and POD-based data-driven methods,” in Proc. American Control Conf., May, 2021. <code>

• A. Iannelli, U. Fasel, N. Yogarajah, and R.S. Smith, “A Balanced Mode Decomposition Approach for Equation-Free Reduced Order Modeling of LPV Aeroelastic Systems,” AIAA SciTech Forum, paper: AIAA 2021-1796, Jan. 2021. <code>

• M. Yin, A. Iannelli, and R.S. Smith, “Maximum Likelihood Estimation in Data-Driven Modeling and Control,” IEEE Trans. Automatic Control, doi: 10.1109/TAC.2021.3137788, Dec., 2021. <code>

• A. Iannelli, U. Fasel and R.S. Smith, “The balanced mode decomposition algorithm for data-driven LPV low-order models of aeroservoelastic systems,” Aerospace Science & Technology, vol. 115, pp. 106821, August, 2021. <code>

• M. Yin, A. Iannelli, and R.S. Smith, “Subspace Identification of Linear Time-Periodic Systems With Periodic Inputs,” IEEE Control Systems Letters, vol. 5, no. 1, pp. 145–150, 2021. <code>

• M. Khosravi and R.S. Smith, “Nonlinear System Identification with Prior Knowledge on the Region of Attraction,” IEEE Control Systems Letters, vol. 5, no. 3, pp. 1091–1096, 2021.

• M. Khosravi and R.S. Smith, “Convex Nonparametric Formulation for Identification of Gradient Flows,” IEEE Control Systems Letters, Vol 5, no. 3, pp. 1097–1102, 2021.

• M. Khosravi, M. Yin, A. Iannelli, A. Parsi, and R.S. Smith, “Low-Complexity Identification by Sparse Hyperparameter Estimation,” in Proc. IFAC Control World Congress, Berlin, Germany, July, 2020.

• M. Yin, A. Iannelli, M. Khosravi, A. Parsi, and R.S. Smith, “Linear Time-Periodic System Identification with Grouped Atomic Norm Regularization,” in Proc. IFAC Control World Congress, Berlin, Germany, July, 2020. <code>

• M. Khosravi, A. Iannelli, M. Yin, A. Parsi, and R.S. Smith, “Regularized System Identification: A Hierarchical Bayesian Approach,” in Proc. IFAC Control World Congress, Berlin, Germany, July, 2020.

• A. Iannelli, M.S. Baumann, S. Balula, and R.S. Smith, “Experiments and Identification of Thermoacoustic Instabilities with the Rijke Tube,” in Proc. Conf. Control Technology & Applications, pp. 757–763, Montreal, Canada, Aug., 2020. <code>

• M. Khosravi and R.S. Smith, “Kernel-Based Positive System Identification,” in Proc. Conf. on Decision & Control, pp. 1740–1745, Nice, France, Dec., 2019.

• Y. Stürz, L. Affolter, and R.S. Smith, “Parameter identification of the KUKA LBR iiwa robot including constraints on physical feasibility,” in Proc. IFAC Control World Congress, IFAC PapersOnLine, Vol 50, no. 1, pp. 6863–6868, July, 2017.

• M. Graf Plessen, V. Semeraro, T. Wood and R.S. Smith, “Optimization algorithms for nuclear norm based subspace identification with uniformly spaced frequency domain data,” in Proc. American Control Conf., pp. 1119–1124, July 2015.

• R.S. Smith, “Frequency Domain Subspace Identification using Nuclear Norm Minimization and Hankel Matrix Realizations,” IEEE Trans. Automatic Control, vol. 59, no. 11, pp. 2886–2896, 2014. <code>

• D. Sturzenegger, D. Keutsch, L. Muffato, D. Kurz and R. Smith, “Frequency-Domain Identification of a Ventilated Room for Model Based Control,” in IFAC Proceedings Volumes, Vol. 47, no. 3, pp. 593–598, July 2014.

• R.S. Smith, “Nuclear norm minimization methods for frequency domain subspace identification,” in Proc. American Control Conf., pp. 2689-2694, 2012.

• R.S. Smith, “Closed-loop Identification of Flexible Structures: An Experimental Example,” AIAA J. Guidance, Control & Dynamics, vol. 21, no. 3, pp. 435–440, 1998.

• R. Smith, S. Rangan and K. Poolla, “Control-Oriented System Identification,” in Proc. IFAC Symposium System Identification, vol. 1, pp. 443–450, July, 1997.

• R.S. Smith and G. Dullerud, “Parameter Estimation in an Uncertain Model Framework,” in Proc. IFAC Control World Congress, vol. I, pp. 127–132, July, 1996.

• R.S. Smith, “Experimentally based calculation of robust control perturbation models,” IFAC Symposium System Identification, IFAC Proc. Volumes, 27(2), pp. 521–526, 1994.

• R.S. Smith and J.C. Doyle, “Closed Loop Relay Estimation of Uncertainty Bounds for Robust Control Models,” in Proc. IFAC Control World Congress, vol. 9, pp. 57–60, Sydney, Australia, July, 1993.

• R.S. Smith and J. Doyle. “Towards a Methodology for Robust Parameter Identification,” in Proc. American Control Conf., vol. 3, pp. 2394–2399, 1990.

Stochastic feedback

R.S. Smith and B. Bamieh, “Stochasticity in Feedback Loops; Great Expectations and Guaranteed Ruin,” IEEE Control Systems Magazine, vol. 41, no. 2, pp. 28–44, 2021. <code> R.S. Smith and B. Bamieh, “Median, Mean, and Variance Stability of a Process under Temporally Correlated Stochastic Feedback,” IEEE Control Systems Letters, vol. 5, no. 3, pp. 857–862, 2021. <code>

Building control

M. Khosravi, B. Huber, A. Decoussemaeker, P. Heer, and R. Smith, “Model Predictive Control in buildings with thermal and visual comfort constraints,” Energy & Buildings, vol. 306, p. 113831, 2024. M. Brandes, H. Cai, J. Vivian, L. Croci, P. Heer, R.S. Smith, “Data-driven modeling of heat pumps and thermal storage units for MPC,” CISBAT, Lausanne, Switzerland, in J. of Physics: Conf. Series, vol. 2600(3), no. 032008, 2023. F. Bünning, B. Huber, A. Schalbetter, A. Aboudonia, M. Hudoba de Badyn, P. Heer, R.S. Smith, and J. Lygeros, “Physics-informed linear regression is competitive with two machine learning methods in residential building MPC,” Applied Energy, vol. 310, pp. 118491, 2022.

• F. Bünning, J. Warrington, P. Heer, R.S. Smith, and J. Lygeros, “Frequency regulation with heat pumps using robust MPC with affine policies,” in Proc. IFAC Control World Congress, Berlin, Germany, July, 2020.

• M. Khosravi, A. Eichler, N. Schmid, P. Heer, and R.S. Smith, “Controller Tuning by Bayesian Optimization; An Application to a Heat Pump,” in Proc. European Control Conf., Napoli, Italy, pp. 1467–1472, June, 2019.

• M. Khosravi, A. Eichler, A. Aboudonia, R. Buck, and R.S. Smith, “Data-Driven Predictive Control of Buildings; A Regression Based Approach,” in Proc. Conf. Control Technology & Applications, Hong Kong, pp. 605–610, Aug., 2019.

• F. Bünning, P. Heer, R.S. Smith, and J. Lygeros, “Sensitivity analysis of data-driven building energy demand forecasts,” CISBAT, Lausanne, Switzerland, in J. Phys.; Conf. Series, vol. 1343, no. 012062, Sept., 2019.

• M. Khosravi, N. Schmid, A. Eichler, P. Heer, and R.S. Smith, “Machine learning-based modeling and controller tuning of a heat pump,” CISBAT, Lausanne, Switzerland, in J. Phys.; Conf. Series, vol. 1343, no. 012065, Sept., 2019.

• F. Bünning, A. Bollinger, P. Heer, R.S. Smith, and J. Lygeros, “Empirical validation of a data-driven heating demand simulation with error correction methods,” in Proc. Building Simulation 2019: 16th Conf. of IBPSA, Rome, Italy, Sept., 2019.

• M. Khosravi, A. Eichler, and R.S. Smith, “Automated classification and identification procedure for prediction of energy consumption in multi-mode buildings,” in Energy Procedia (CISBAT conf.) vol. 122, pp. 1021–1026. 2017.

• D. Sturzenegger, D. Gyalistras, M. Morari and R. Smith, “Model predictive climate control of a Swiss office building: Implementation, results and cost-benefit analysis,” IEEE Trans. Control Systems Technology, vol. 24, no. 1, pp. 1–12, 2016.

• D. Sturzenegger, D. Gyalistras, V. Semeraro, M. Morari and R. Smith, “BRCM Matlab Toolbox: Model Generation for Model Predictive Building Control,” in Proc. American Control Conf., pp. 1063–1069, June 2014.

• M. Gwerder, S. Boetschi, D. Gyalistras, C. Sagerschnig, D. Sturzenegger, R. Smith, and B. Illi, “Integrated predictive rule-based control of a Swiss office building,” CLIMA, Prague, June 2013.

• D. Sturzenegger, R. Smith, D. Gyalistras, M. Gwerder, C. Sagerschnig and M. Morari, “Model predictive control of a Swiss office building,” CLIMA, pp. 3227–3236, Prague, June 2013.

• F. Oldewurtel, D. Sturzenegger, G. Andersson, M. Morari and R.S. Smith, “Towards a standardized building assessment for demand response,” in Proc. Control & Decision Conf., pp. 7083–7088, Dec. 2013.

• D. Sturzenegger, D. Gyalistras, M. Morari and R. Smith, “Semi-Automated Modular Modeling of Buildings for Model Predictive Control,” BuildSys, 4th ACM Workshop on Embedded Systems for Energy-Efficiency in Buildings, Toronto, Canada, Nov. 2012.

Energy hubs and systems

V. Behrunani, H. Cai, P. Heer, R.S. Smith, and J. Lygeros, “Distributed multi-horizon model predictive control for network of energy hubs,” Control Engineering Practice, vol. 147, pp. 105922, 2024. M. Yin, H. Cai, A. Gattiglio, F. Khayatian, R.S. Smith, P. Heer, “Data-driven predictive control for demand side management: Theoretical and experimental results,” Applied Energy, vol. 353 (Part A), pp. 122101, 2024. <code> F. Bünning, P. Heer, R. Smith, and J. Lygeros “Increasing electrical reserve provision in districts by exploiting energy flexibility of buildings with robust model predictive control,” Advances in Applied Energy, vol. 10, p. 100130, 2023.

• R. Smith, V. Behrunani, and J. Lygeros, “Control of Multicarrier Energy Systems from Buildings to Networks,” Annual Review of Control, Robotics, and Autonomous Systems, vol. 6, pp. 391-414, 2023.

• F. Bünning, J. Warrington, P. Heer, R.S. Smith, and John Lygeros, “Robust MPC with data-driven demand forecasting for frequency regulation with heat pumps,” Control Engineering Practice, vol. 5, pp. 105101, 2022.

• G.G. Zanvettor, M. Casini, R.S. Smith, and A. Vicino, “Stochastic energy pricing of an electric vehicle parking lot,” IEEE Trans. Smart Grid, vol. 13, no. 4, pp. 3069–3081, 2022.

• N. Lefebure, M. Khosravi, M. Hudoba de Badyn, F. Bünning, J. Lygeros, C. Jones, and R.S. Smith, “Distributed model predictive control of buildings and energy hubs,” Energy & Buildings, vol. 259, pp. 111806, 2022.

• F. Bünning, P. Heer, R.S. Smith, and J. Lygeros, “Improved day ahead heating demand forecasting by online correction methods,” Energy & Buildings, vol. 211, pp. 109821, 2020.

• G. Darivianakis, A. Georghiou, R.S. Smith and J. Lygeros, “The power of diversity: data-driven robust predictive control for energy efficient buildings and districts,” IEEE Trans. Control Systems Technology, vol. 27, no. 1, pp. 132–145, 2019.

• B. Flamm, A. Eichler, R.S. Smith, and J. Lygeros, “Price arbitrage using variable-efficiency energy storage,” CISBAT, Lausanne, Switzerland, in J. Phys.; Conf. Series, vol. 1343, no. 012060, Sept., 2019.

• M. Jonin, M. Khosravi, A. Eichler, W. Villasmil, P. Schuetz, C.N. Jones, and R.S. Smith, “Exergy-based model predictive control for design and control of a seasonal thermal energy storage system,” CISBAT, Lausanne, Switzerland, in J. Phys.; Conf. Series, vol. 1343, no. 012066, Sept., 2019.

• G. Darivianakis, A. Eichler, R.S. Smith and J. Lygeros, “A data-driven stochastic optimization approach to the seasonal storage energy management,” IEEE Control Systems Letters, vol. 1, no. 2, pp. 394–399, 2017.

• G. Darivianakis, A. Georghiou, A. Eichler, R.S. Smith, and J. Lygeros, “Scalability through decentralization: a robust control approach for the energy management of a building community,” in Proc. IFAC Control World Congress, IFAC PapersOnLine, vol. 50, no. 1, pp. 14314–14319, July, 2017.

• G. Darivianakis, A. Georghiou, R. Smith and J. Lygeros, “A Stochastic Optimization Approach to Cooperative Building Energy Management via an Energy Hub,” in Proc. Conf. on Decision & Control, pp. 7814–7819, Dec. 2015.

Covert attacks on networked control systems

• R.S. Smith, “Covert Misappropriation of Networked Control Systems,” IEEE Control Systems Magazine, vol. 35, no. 1, pp. 82–92, 2015.

• R.S. Smith, “A decoupled feedback structure for covertly appropriating network control systems,” in Proc. IFAC Control World Congress, pp. 90–95, 2011.

Model predictive control

• A. Parsi, M. Bartos, A. Srivastava, S. Gros, and R. Smith, “Once upon a time step: A closed-loop approach to robust MPC design,” IEEE Trans. Automatic Control, vol. 70, no. 2, pp. 1297–1303, 2025.

• V. Behrunani, P. Heer, R. Smith, J. Lygeros, “Recursive feasibility guarantees in multi-horizon MPC,” Conf. on Decision & Control, pp. 297–302, Dec., 2024.

• R. Smith, M. Abdalmoaty, and M. Yin, “Data-driven formulation of the Kalman filter and its Application to Predictive Control,” Conf. on Decision & Control, pp. 2633–2639, Dec., 2024. <code>

• R. Smith, M. Abdalmoaty, and M. Yin, “Optimal Data-Driven Prediction and Predictive Control using Signal Matrix Models,” Conf. on Decision & Control, pp. 6767–6773, Dec., 2024. <code>

• M. Yin, A. Iannelli, and R. Smith, “Stochastic Data-Driven Predictive Control: Regularization, Estimation, and Constraint Tightening,” IFAC Symposium on System Identification, IFAC PapersOnline, vol. 58(15), pp. 79-84, 2024. <code>

• A. Parsi, D. Liu, A. Iannelli, and R. Smith, “Dual Adaptive MPC using an exact set-membership reformulation,” in Proc. IFAC World Congress, IFAC-PapersOnline, vol. 56, no. 2, pp. 8457-8463, 2023.

• A. Parsi, A. Iannelli, and R.S. Smith, “Scalable tube model predictive control of uncertain linear systems using ellipsoidal sets,” Int. J. Robust and Nonlinear Control, 2022. <code>

• A. Parsi, P. Anagnostaras, A. Iannelli, and R.S. Smith, “Computationally efficient robust MPC using optimized constraint tightening,” in Proc. Conf. on Decision & Control, Dec., 2022. <code>

• F. Bünning, J. Warrington, P. Heer, R.S. Smith, and J. Lygeros, “Frequency regulation with heat pumps using robust MPC with affine policies,” in Proc. IFAC Control World Congress, Berlin, Germany, July, 2020.

• A. Parsi, A. Aboudonia, A. Iannelli, R.S. Smith, and J. Lygeros, “A distributed framework for linear adaptive MPC,” in Proc. Conf. on Decision & Control, pp. 460-465, Dec., 2021. <code>

• A. Didier, A. Parsi, J. Coulson, and R. Smith, “Robust adaptive model predictive control of quadrotors,” in Proc. European Control Conf., pp. 657–662, 2021. <code>

• A. Parsi, A. Iannelli, M. Yin, M. Khosravi, and R.S. Smith, “Robust Adaptive Model Predictive Control with Worst-Case Cost,” in Proc. IFAC Control World Congress, Berlin, Germany, July, 2020.

• A. Parsi, A. Iannelli and R.S. Smith, “Active exploration in adaptive model predictive control,” in Proc. Conf. on Decision & Control, pp. 6186–6191, Dec., 2020. <code> <data>

• G. Torrisi, S. Grammatico, R.S. Smith, and M. Morari, “A Projected Gradient and Constraint Linearization Method for Nonlinear Model Predictive Control,” SIAM J. Control & Optimization, vol. 56, no. 3, pp. 1968–1999, 2018.

• G. Torrisi, S. Grammatico, A. Cortinovis, M. Mercangöz, Manfred Morari and Roy S. Smith, “Model predictive approaches for active surge control in centrifugal compressors,” IEEE Trans. Control Systems Technology, vol. 25, no. 6, pp. 1947–1960, 2017.

• M. Tanaskovic, D. Sturzenegger, R.S. Smith, and M. Morari, “Robust adaptive model predictive building climate control,” in Proc. IFAC Control World Congress, IFAC PapersOnLine, Vol 50, no. 1, pp. 1871-1876, July, 2017.

• G. Torrisi, S. Grammatico, D. Frick, T. Robbiani, R.S. Smith, and M. Morari, “Low-complexity first-order constraint linearization methods for efficient nonlinear MPC,” in Proc. Control & Decision Conf., pp. 4376–4381, 2017.

• G. Torrisi, S. Grammatico, R.S. Smith and M. Morari, “A variant to sequential quadratic programming for nonlinear model predictive control,” in Proc. Conf. on Decision & Control, pp. 2814–2819, Dec. 2016.

• G. Torrisi, V. Jaramillo, J.R. Ottewill, S. Mariéthoz, M. Morari and R. Smith, “Active surge control of electrically driven centrifugal compressors,” in Proc. European Control Conf., pp. 1614–1619, July 2015.

• S. Merkli, J. Jerez, A. Domahidi, R. Smith and M. Morari, “Efficient embedded affine set Euclidean project for first-order methods,” in Proc. European Control Conf., pp. 3445–3450, July 2015.

• G. Torrisi, S. Grammatico, M. Morari and R. Smith, “Model Predictive Control approaches for Centrifugal Compression Systems,” in Proc. Conf. on Decision & Control, pp. 4320–4325, Dec., 2015.

• M. Tanaskovic, L. Fagiano, R. Smith and M. Morari, “Receding horizon control for constrained linear systems,” Automatica, vol. 50, pp. 3019-3029, 2014.

• M. Tanaskovic, L. Fagiano, R. Smith, P. Goulart and M. Morari, “Adaptive model predictive control for constrained linear systems,” in Proc. European Control Conf., pp. 382–387, Zürich, Switzerland, July 2013.

• M. Tanaskovic, L. Fagiano, R. Smith and M. Morari, “Adaptive model predictive control for constrained MIMO systems,” 11th IFAC Int. Workshop on Adaptation and Learning in Control and Signal Processing, pp. 39–44, July 2013.

• R.S. Smith, “Model predictive control of uncertain constrained linear systems; LMI-based methods,” University of Cambridge, Department of Engineering, Technical Report, CUED/F-INFENG/TR.462, July, 2006.

• R.S. Smith, “Robust Model Predictive Control of Constrained Linear Systems,” in Proc. American Control Conf., vol. 1, pp. 245–250, June 2004.

Model validation

• G. Dullerud and R. Smith, “A Nonlinear Functional Approach to LFT Model Validation,” Systems & Control Letters, vol. 47, no. 1, pp. 1–11, 16 Sept. 2002.

• C. Beck, R. Smith, H-H. Lin, and M. Bloom, “On the Application of System Identification and Model Validation Methods for Reconstructing Multivariable Anaesthesia Response Models,” in Proc. Conf. Control Applications, pp. 784–790, Sept., 2000.

• R. Smith, G. Dullerud and S. Miller, “Model validation for nonlinear feedback systems,” in Proc. Conf. on Decision & Control, vol. 2, pp. 1232–1236, Dec. 2000.

• R. Smith, G. Dullerud, “Modeling and Validation of Nonlinear Feedback Systems,” in Robustness in Identification and Control, A. Garulli, A. Tesi, & A. Vicino (Eds.), Springer-Verlag, London, pp. 87–101, 1999.

• R. Smith, A. Banaszuk and G. Dullerud, “Model Validation Approaches for Nonlinear Feedback Systems using Frequency Response Measurements,” in Proc. Conf. on Decision & Control, vol. 2, pp. 1500–1504, Dec. 1999.

• M. Newlin and R.S. Smith, “A Generalization of the Structured Singular Value and its Application to Model Validation,” IEEE Trans. Automatic Control, vol. 43, no. 7, pp. 901–907, 1998.

• Li Chen and R. Smith, “Closed-Loop Model Validation; Application to an Unstable Experimental System,” in Proc. American Control Conf., vol. 1, pp. 618–622, 1998.

• R.S. Smith, G. Dullerud, S. Rangan and K. Poolla, “Model Validation for Dynamically Uncertain Systems,” Math. Modelling of Systems, vol. 3, no. 1, pp. 43–58, January, 1997.

• G. Dullerud and R. Smith, “Invalidation Techniques for Assessing Linear Perturbation Models of Nonlinear Systems,” in Proc. American Control Conf., vol. 3 pp. 2078–2082, 1997.

• Li Chen and R. Smith, “Closed-Loop Model Validation for an Inverted Pendulum Experiment via a Linear Matrix Inequality Approach,” in Proc. Conf. on Decision & Control, vol. 3, pp. 2565–2566, 1997.

• G. Dullerud and R. Smith, “A Continuous Time Extension Condition,” IEEE Trans. Automatic Control, vol. 41, no. 5, pp. 738–742, 1996.

• R.S. Smith and G. Dullerud, “Continuous-Time Control Model Validation using Finite Experimental Data,” IEEE Trans. Automatic Control, vol. 41, no. 8, pp. 1094–1105, Aug., 1996.

• G. Dullerud and R.S. Smith, “Sampled-Data Model Validation: an Algorithm and Experimental Application,” Int. J. Robust & Nonlinear Control, vol. 6, no. 9/10, pp. 1065–1078, 1996. <code>

• R. Smith and K. Poolla, “Recent Results on Model Validation,” J. Society Instrument & Control Engineers (SICE), vol. 34, no. 3, pp. 176–181, March, 1995.

• R.S. Smith, “Model Validation for Robust Control: An Experimental Process Control Application,” Automatica, vol. 31, no. 11, pp. 1637–1647. 1995.

• R. Smith and G. Dullerud, ‘‘Analysis of Continuous-time Robust Control Models using Finite, Sampled, Experimental Data,’’ Univ. California Santa Barbara, Center for Control Engineering & Computation. Tech. Report CCEC-95-0313, 1995.

• R.S. Smith and G. Dullerud, “Validation of Continuous-time Control Models by Finite Experimental Data,” in Proc. American Control Conf., vol. 4, pp. 2549–2553, June, 1995.

• R.S. Smith, “An Informal Review of Model Validation” in The Modeling of Uncertainty in Control Systems; Proceedings of the 1992 Santa Barbara Workshop, R.S. Smith and M. Dahleh (Eds), Springer-Verlag, Berlin, pp. 51–59, 1994.

• R.S. Smith and J.C. Doyle. “Model Validation: A Connection Between Robust Control and Identification”. IEEE Trans. Automatic Control, vol. 37, no. 7, pp. 942–952, 1992.

• R.S. Smith, “Model Validation and Identification for Systems in H-infinity and l-1,” Proc. American Control Conf., pp. 2852–2856, June, 1992.

• R.S. Smith and J. Doyle. “Model Invalidation: A Connection between Robust Control and Identification,” Proc. American Control Conf., vol. 2, pp. 1435–1440, 1989.

Robust control (\(H_{\infty}\), \(\mu\), and \(D\)-\(K\) iteration)

• J. Miller, J. Eising, F. Dörfler, and R. Smith, Data-Driven Structured Robust Control of Linear Systems," European Control Conf. (ECC), pp. 96–101, 2025.

• M. Colombino and R. Smith, “A convex characterization of robust stability for positive and positively dominated linear systems,” IEEE Trans. Automatic Control, vol. 61, no. 7, pp. 1965–1971, 2016.

• M. Colombino, N.K. Dhingra, M.R. Jovanovic and R.S. Smith, “Convex reformulation of a robust optimal control problem for a class of positive systems,” in Proc. Conf. on Decision & Control, pp. 5263–5268, Dec., 2016.

• M. Colombino, A.B. Hempel and R. Smith, “Robust stability of a class of interconnected nonlinear positive systems,” in Proc. American Control Conf., pp. 5312–5317, July 2015.

• M. Colombino and R. Smith, “Convex characterization of robust stability analysis and control synthesis for positive linear systems,” in Proc. Conf. on Decision & Control, pp. 4379–4384, Dec. 2014.

• N. Morse Thibeault and R. Smith, “Fundamental Limits in Robustness and Performance for Unstable, Underactuated Systems,” IEEE Trans. Automatic Control, vol. 46, no. 8, pp. 1265–1268, 2001.

• R. Smith and A. Ahmed, “Robust Parametrically Varying Attitude Controller Designs for the X-33 Vehicle,” AIAA Guidance Navigation & Control Conf., AIAA paper: 2000-4158, Aug., 2000.

• R.S. Smith, “On the Gap between the Structured Singular Value and its Convex Upper Bound,” IEEE Trans. Automatic Control, vol. 42, no. 8, pp. 1176–1179, August 1997.

• R.S. Smith and A.K. Packard, “Optimal Control of Perturbed Static Systems,” IEEE Trans. Automatic Control, vol. 41, no. 4, pp. 579–584, 1996. <code>

• R.S. Smith, “Eigenvalue Perturbation Models for Robust Control,” IEEE Trans. Automatic Control, vol. 40, no. 6, pp. 1063–1066, 1995.

• R.S. Smith, C-C. Chu and J.L. Fanson, “The Design of \(H_{\infty}\) Controllers for an Experimental Non-collocated Flexible Structure Problem,” IEEE Trans. Control Systems Technology, vol. 2, no. 2, pp. 101–109, June, 1994.

• R.S. Smith and J.C. Doyle, “Closed Loop Relay Estimation of Uncertainty Bounds for Robust Control Models,” in IFAC Proceedings Volumes (12th World Congress), vol. 26, no. 2, part 5, pp. 129–132, Sydney, Australia, July, 1993.

• G.J. Balas, A.K. Packard, J.C. Doyle, K. Glover, and R.S. Smith, “Development of Advanced Control Design Software for Researchers and Engineers,” Proc. American Control Conf., pp. 996–1001, 1991.

• R.S. Smith and J. Doyle. “The Two Tank Experiment: A Benchmark Control Problem,” in Proc. American Control Conf., vol. 3, pp. 2026–2031, 1988.

• R.S. Smith, J.C. Doyle, M. Morari, and A. Skjellum. “A Case Study using \(\mu\): Laboratory Process Control Problem,” in IFAC Proceedings Volumes (10th World Congress), vol. 20, no. 5, part 8, pp. 373–385, 1987.

Distributed control

See also the section on Formation control for an application using the theory covered here.

• Y.R. Stürz, A. Eichler, and R.S. Smith, “Distributed Control Design for Heterogeneous Interconnected Systems,” IEEE Trans. Automatic Control, vol. 66, no. 11, pp. 5112–5127, 2021.

• G. De Pasquale, Y.R. Stürz, M.E. Valcher, and R.S. Smith, “Extended Full Block S-Procedure for Distributed Control of Interconnected Systems,” in Proc. Conf. on Decision & Control, pp. 5628–5633, Dec., 2020.

• Y.R. Stürz, A. Eichler, and R.S. Smith, “Scalable controller synthesis for heterogeneous interconnected systems applicable to an overlapping control framework,” in Proc. European Control Conf., pp. 2561–2568, 2018.

• Y.R. Stürz, A. Eichler and R.S. Smith, “Fixed mode elimination by minimum communication within an estimator-based framework for distributed control,” IEEE Control Systems Letters, vol. 1, no. 2, pp. 346–351, 2017.

• Y. Stürz, A. Eichler, and R.S. Smith, “A framework for distributed control based on overlapping estimation for cooperative tasks,” in Proc. IFAC Control World Congress, IFAC PapersOnLine, Vol 50, no. 1, pp. 14296–14301, July, 2017.

• M.V. Subbotin and R.S. Smith, “Design of Distributed Decentralized Estimators for Formations with Fixed and Stochastic Topologies,” Automatica, vol. 45, no. 11, pp. 2491–2501, 2009.

• M.V. Subbotin and R.S. Smith, “Elimination of Fixed Modes of a Decentralized Distributed Estimator with Inter-Agent Communication,” in Proc. Conf. on Decision & Control, pp. 2545–2550, December, 2008.

• R.S. Smith and F.Y. Hadaegh, “Closed-loop Dynamics of Cooperative Vehicle Formations with Parallel Estimators and Communication,” IEEE Trans. Automatic Control, vol. 52, no. 8, pp. 1404–1414, August, 2007.

• M.V. Subbotin and R.S. Smith, “Design of a Distributed Decentralized Estimator for a Formation with Fixed Communication Topology,” in Proc. American Control Conf., pp. 5025–5030, July, 2007.

• M.V. Subbotin and R.S. Smith, “Distributed Estimator Design for a Formation with Markovian Communication Topology,” in Proc. American Control Conf., pp. 5046–5051, July, 2007.

Airborne wind energy (kites)

C. Vermillion, M. Cobb, L. Fagiano, R. Leuthold, M. Diehl, R.S. Smith, T. Wood, S. Rapp, R. Schmehl, D. Olinger, and M. Demetriou, “Electricity in the air: Insights from two decades of advanced control research and experimental flight testing of airborne wind energy systems,” Annual Reviews in Control, vol. 52, pp. 330–357, 2021. H. Hesse, M. Polzin, T.A. Wood, and R.S. Smith, “Visual motion tracking and sensor fusion for kite power systems,” in Airborne Wind Energy, R. Schmehl (Ed.), pp. 413–438, Springer 2018. R.H. Luchsinger, D. Aregger, F. Bezard, D. Costa, C. Galliot, F. Gohl, J. Heilmann, H. Hesse, C. Houle, T.A. Wood, and R.S. Smith, “Pumping Cycle Kite Power with Twings,” in Airborne Wind Energy, R. Schmehl (Ed.), pp. 603–621, Springer 2018.

• E. Ahbe, T.A. Wood, and R.S. Smith, “Stability verification for periodic trajectories of autonomous kite power systems,” in Proc. European Control Conf., pp. 46–51, 2018.

• T.A. Wood, H. Hesse, M. Polzin, E. Ahbe, and R.S. Smith, “Modeling, identification, estimation and adaptation for the control of power-generating kites,” in Proc. IFAC Symposium System Identification, IFAC PapersOnline, vol. 50, no. 15, pp. 981–989, 2018.

• E. Ahbe, T.A. Wood, and R.S. Smith, “Transverse contraction-based stability analysis for periodic trajectories of controlled power kites with model uncertainty,” in Proc. Conf. on Decision & Control, pp. 6501–6506, Dec. 2018.

• T.A. Wood, H. Hesse and R.S. Smith, “Predictive control of autonomous kites in tow test experiments,” IEEE Control Systems Letters, vol. 1, no. 1, pp. 110–115, 2017.

• M. Polzin, T.A. Wood, H. Hesse, and R.S. Smith, “State estimation for kite power systems with delayed sensor measurements,” in Proc. IFAC Control World Congress, IFAC PapersOnLine, vol. 50, no. 1, pp. 11959–11964, July, 2017.

• T.A. Wood, E. Ahbe, H. Hesse, and R.S. Smith, “Predictive guidance control for autonomous kites with input delay,” in Proc. IFAC Control World Congress, Vol 50, no. 1, pp. 13276–13281, July, 2017.

• T.A. Wood, H. Hesse, A.U. Zgraggen and R.S. Smith, “Model-based identification and control of the velocity vector orientation for autonomous kites,” in Proc. American Control Conf., pp. 2377–2382, July 2015.

• T. Wood, H. Hesse, A. Zgraggen and R. Smith, “Model-Based Flight Path Planning and Tracking for Tethered Wings,” in Proc. Conf. on Decision & Control, pp. 6712–6717, Dec., 2015.

• A. Millane, H. Hesse, T.A. Wood and R.S. Smith, “Range-Inertial Estimation for Airborne Wind Energy,” in Proc. Control & Decision Conf., pp. 455–460, Dec., 2015.

Optimisation and optimal control

• A. Parsi, A. Iannelli, and R.S. Smith, “An explicit dual control approach for constrained reference tracking of uncertain linear systems,” IEEE Trans. Automatic Control, vol. 68, no. 5, pp. 1558–2523, 2023. <code>

• M. Hudoba de Badyn, E. Miehling, D. Janak, B. Açıkmeşe, M. Mesbahi, T. Basar, J. Lygeros, and R.S. Smith, “Discrete-Time Linear-Quadratic Regulation via Optimal Transport,” in Proc. Conf. on Decision & Control, pp. 3060–3065, Dec., 2021. <code>

• M. Hudoba de Badyn, D.R. Foight, D. Calderone, M. Mesbahi and R.S. Smith, “Graph-theoretic optimization for edge consensus,” in Proc. Int. Symposium Mathematical Theory of Networks & Systems, IFAC PapersOnLine, vol. 59, no. 9, pp. 533–538, August, 2021. <code>

• P. Zhang, A. Orvieto, H. Daneshmand, T. Hofmann and R.S. Smith, “Revisiting the Role of Euler Numerical Integration on Acceleration and Stability in Convex Optimization,” in Proc. Int. Conf. Artificial Intelligence & Statistics, Proc. of Machine Learning Research, vol. 130, pp. 3979–3987, April, 2021.

• A. Iannelli, M. Khosravi, and R.S. Smith, “Structured Exploration in the Finite Horizon Linear Quadratic Dual Control Problem,” in Proc. IFAC Control World Congress, Berlin, Germany, July, 2020. <code>

• A. Iannelli and R.S. Smith, “A multiobjective LQR synthesis approach to dual control for uncertain plants,” IEEE Control Systems Letters, vol. 4, no. 4, pp. 952–957, 2020. <code>

• M. Colombino, N.K. Dhingra, M.R. Jovanovic, A. Rantzer and R.S. Smith, “On the optimal control problem for a class of monotone bilinear systems,” in Proc. Int. Symposium Mathematical Theory of Networks & Systems, pp. 411–413, July, 2016.

• S. Miller and R. Smith, “An Inexact Spectral Bundle Method for Solving Large Structured LMI Problems,” in Proc. American Control Conf., vol. 2, pp. 1405–1409, June 2000.

• S.A. Miller and R.S. Smith, “Solving large structured semidefinite programs using an inexact spectral bundle method,” in Proc. Conf. on Decision & Control, vol. 5, pp. 5027–5032, Dec. 2000.

Nonlinear systems

• G. Belgioioso, D. Liao-McPherson, M. Hudoba de Badyn, S. Bolognani, R. Smith, J. Lygeros, and F. Dörfler, ‘‘Online Feedback Equilibrium Seeking,’’ IEEE Trans. Automatic Control, vol. 70(1), pp. 203–218, 2025.

• J. Miller, N. Schmid, M. Tacchi, D. Henrion, R. Smith, “Peak Time-Windowed Mean Estimation using Convex Optimization,” Conf. on Decision & Control, pp. 703–708, Dec., 2024.

• J. Miller and R.S. Smith, “Peak estimation of rational systems using convex optimization,” European J. Control, vol. 80, pp. 101088, 2024. <code>

• E. Ahbe, A. Iannelli, and R.S. Smith, “A Novel Moving Orthonormal Coordinate-Based Approach for Region of Attraction Analysis of Limit Cycles,” J. Computational Dynamics, vol. 10, no. 1, pp. 75-104, 2023. <code>

• D.E. Ozan, M. Yin, A. Iannelli, and R.S. Smith, “Kernel-Based Identification of Local Limit Cycle Dynamics with Linear Periodically Parameter-Varying Models,” in Proc. Conf. on Decision & Control, Dec., 2022. (IEEE SIAC Tech. Committee Student paper award 2023)

• D.E. Ozan, A. Iannelli, M. Yin, and R.S. Smith, “Regularized classification and simulation of bifurcation regimes in nonlinear systems,” Conf. Modelling, Identification & Control Nonlinear Systems, IFAC PapersOnLine, vol. 54, no. 14, pp. 352–357, Sept., 2021. <code>

• E. Ahbe, A. Iannelli, and R.S. Smith, “Region of attraction analysis of nonlinear stochastic systems using Polynomial Chaos Expansion,” Automatica, vol. 122, pp. 109187, 2020. <code>

• A. Iannelli, M.S. Baumann, S. Balula, and R.S. Smith, “Experiments and Identification of Thermoacoustic Instabilities with the Rijke Tube,” in Proc. Conf. Control Techn. & Applications, pp. 757–763, Montreal, Canada, Aug., 2020. <code>

• E. Ahbe, A. Iannelli, and R.S. Smith, “Local contraction analysis of stochastic systems with limit cycles,” in Proc. Conf. on Decision & Control, pp. 2014–2019, Dec., 2020. <code>

• A. Romero, P.N. Beuchat, Y.R. Stürz, R.S. Smith, and J. Lygeros, “Non-linear Control of Quadcopters via Approximate Dynamic Programming,” in Proc. European Control Conf., Napoli, Italy, pp. 3752–3759, June, 2019.

• Li Chen, R. Smith, and G. Dullerud, “A Linear Perturbation Model for a Nonlinear System Linearized at an Equilibrium Neighborhood,” in Proc. Conf. on Decision & Control, vol. 4, pp. 4105–4106, Dec. 1998.

• R. Smith and G. Dullerud, “Capturing Nonlinearities with Perturbation Models,” in Proc. IFAC Symposium System Identification, vol. 1, pp. 93–98, 1997.

• J.C. Doyle, R.S. Smith, and D.F. Enns, “Control of Plants with Input Saturation Nonlinearities,” in Proc. American Control Conf., pp. 1034–1039, 1987. <code>

Swiss Free Electron Laser (SwissFEL)

A. Rezaeizadeh and R.S. Smith, “Iterative Learning Control for the Radio Frequency Subsystems of a Free-Electron Laser,” IEEE Trans. Control Systems Technology, vol. 26, no. 5, pp. 1567–1577, 2018. A. Rezaeizadeh and R.S. Smith, “Adaptive control of low-level radio frequency signals based on in-phase and quadrature components,” IEEE Trans. Nuclear Science, vol. 64, no. 4, pp. 1023–1028, 2017. A. Rezaeizadeh and R.S. Smith, “Optimal control of gains in a linear accelerator: a supervisory method for vector-sum control,” IEEE Trans. Control Systems Technology, vol. 25, no. 5, pp. 1800–1806, 2017.

• A. Rezaeizadeh, T. Schilcher, and R.S. Smith, “Control of the Swiss Free Electron Laser: Methods for Precision Control of Pulsed-Mode Accelerator Beams,” IEEE Control Systems Magazine, vol. 37, no. 6, pp. 30–51, 2017.

• A. Rezaeizadeh and R.S. Smith, “Optimal radio-frequency power distribution in a linear accelerator using beam energy measurements,” IEEE Trans. Nuclear Science, vol. 63, no. 2, pp. 777–782, 2016.

• A. Rezaeizadeh, R. Kalt, T. Schilcher and R.S. Smith, “An iterative learning control approach for radio frequency pulse compressor amplitude and phase modulation,” IEEE Trans. Nuclear Science, vol. 63, no. 2, pp. 842–848, 2016.

• A. Rezaeizadeh, T. Schilcher and R.S. Smith, “Adaptive robust control of longitudinal and transverse electron beam profiles,” Phys. Rev. Accel. Beams, vol. 19, no. 5, pp. 052802, 2016.

• A. Rezaeizadeh and R. Smith, “Time-delayed feedback control of electron beam energy using \(H_{\infty}\) optimal fractional delay,” IEEE Trans. Control Systems Technology, vol. 61, no. 7, pp. 2176–2181, 2016.

• A. Rezaeizadeh, T. Schilcher and R.S. Smith, “Robust \(H_{\infty}\)-based Control Design for the Beam Injector Facility,” in Proc. European Control Conf., pp. 346–351, July 2016.

• A. Rezaeizadeh, R. Kalt, T. Schilcher, and R.S. Smith, “Pulse compressor phase and amplitude modulation based on iterative learning control,” in Proc. 6th Int. Particle Accelerator Conf., pp. 1076–1078, 2015.

• A. Rezaeizadeh, R. Kalt, T. Schilcher and R. Smith, “Beam-Based Power Distribution over Multiple Klystrons in a Linear Accelerator,” in Proc. 6th Int. Particle Accelerator Conf., pp. 1079–1081, Richmond, USA, 2015.

• A. Rezaeizadeh, T. Schilcher and R.S. Smith, “MPC Based Supervisory Control Design for a Free Electron Laser,” in Proc. Conf. on Decision & Control, pp. 1682–1686, Dec. 2015.

• A. Rezaeizadeh, T. Schilcher, R. Kalt and R. Smith, “Model-based klystron linearization in the SwissFEL test facility,” in Proc. 36th Int. Free Electron Laser Conf., pp. 820–823, Basel, Switzerland, Aug. 2014.

• A. Rezaeizadeh, T. Schilcher and R. Smith, “RF pulse flattening in the SwissFEL test facility based on model-free iterative learning control,” in Proc. 36th Int. Free Electron Laser Conf., pp. 824–827, Basel, Switzerland, Aug. 2014.

Formation control (primarily spacecraft for deep-space synthetic imaging networks)

M.V. Subbotin and R.S. Smith, “Design of Distributed Decentralized Estimators for Formations with Fixed and Stochastic Topologies,” Automatica, vol. 45, no. 11, pp. 2491–2501, 2009. R.S. Smith and F.Y. Hadaegh, “Distributed Estimation, Communication and Control for Deep Space Formations,” IET Control Theory & Applications, vol. 1, no. 2, pp. 445–451, 2007. R.S. Smith and F.Y. Hadaegh, “Closed-loop Dynamics of Cooperative Vehicle Formations with Parallel Estimators and Communication,” IEEE Trans. Automatic Control, vol. 52, no. 8, pp. 1404–1414, August, 2007.

• M.V. Subbotin and R.S. Smith, “Design of a Distributed Decentralized Estimator for a Formation with Fixed Communication Topology,” in Proc. American Control Conf., pp. 5025–5030, July, 2007.

• M.V. Subbotin and R.S. Smith, “Distributed Estimator Design for a Formation with Markovian Communication Topology,” in Proc. American Control Conf., pp. 5046–5051, July, 2007.

• R.S. Smith, M.V. Subbotin and F.Y. Hadaegh, “Decentralized Estimation and Control in High Precision Spacecraft Formations: Comparison Studies,” IEEE Aerospace Conf., March, 2007.

• R.S. Smith and F.Y. Hadaegh, “Parallel Estimation and Control Architectures in Deep-Space Formation Flying Spacecraft,” IEEE Aerospace Conf., pp. 1–12, March, 2006.

• R.S. Smith and F.Y. Hadaegh, “A Distributed Parallel Estimation Architecture for Cooperative Vehicle Formation Control,” in Proc. American Control Conf., pp. 4219–4224, June, 2006.

• R.S. Smith and F.Y. Hadaegh, “Control of Deep Space Formation Flying Spacecraft: Relative Sensing and Switched Information,” AIAA, J. Guidance, Control, & Dynamics, vol. 28, no. 1, pp. 106–114, 2005.

• R.S. Smith and F.Y. Hadaegh, “Parallel Estimators and Communication in Spacecraft Formations,” in Proc. IFAC Control World Congress, Prague, July 2005.

• R. Smith and F.Y. Hadaegh, “Control Topologies for Deep Space Formation Flying Spacecraft,” in Proc. American Control Conf., vol. 4, pp. 2836–2841, May 2002.

• R. Smith and F. Hadaegh, “Distributed Control Topologies for Deep Space Formation Flying Spacecraft,” First Int. Symposium Formation Flying, Toulouse, France, Oct., 2002.

Aerospace, spacecraft and rockets

X. Wang, F. Zhao, A. Jürisson, F. Dörfler, and R. Smith, ‘‘Unified Aeroelastic Flutter and Loads Control via Data-Enabled Policy Optimization," IEEE Trans. Aerospace & Electronic Systems, vol. 65(5), pp. 11437–11449, 2025. M. Hudoba de Badyn, J. Binz, A. Iannelli, and R. Smith, “Distributed Dual-Quaternion Extended Kalman Filtering for Spacecraft Pose Estimation,” AIAA J. Guidance, Control & Dynamics, vol. 48(5), pp. 1071-1087, 2025. A. Iannelli, D. Gkouletsos, and R.S. Smith, “Robust Control Design for Flexible Guidance of the Aerodynamic Descent of Reusable Launchers,” AIAA SCITECH Forum 2023. <code>

• A. Iannelli, U. Fasel and R.S. Smith, “The balanced mode decomposition algorithm for data-driven LPV low-order models of aeroservoelastic systems,” Aerospace Science & Technology, vol. 115, pp. 106821, August, 2021. <code>

• M.B. Larsen, R.S. Smith and M. Blanke, “Modeling of tethered satellite formations using graph theory,” Acta Astronautica, vol. 69, pp. 470–479, 2011.

• R.S. Smith, K.D. Mease, D.S. Bayard and D.L. Farless, “Aeromaneuvering in the Martian Atmosphere: Simulation-Based Analyses,” AIAA J. Spacecraft & Rockets, vol. 37, no. 1, pp. 139-142, 2000.

• R. Smith and A. Ahmed, “Robust Parametrically Varying Attitude Controller Designs for the X-33 Vehicle,” AIAA Guidance Navigation & Control Conf., AIAA paper: 2000-4158, Aug., 2000.

• R. Smith, D. Boussalis and F. Hadaegh, “Closed-Loop Aeromaneuvering for a Mars Precision Landing,” NASA URC Technology Conf., Albuquerque, NM, pp. 942–947, Feb., 1997.

Control of architectural cable net structures

Y. Stürz, A. Iannelli, and R.S. Smith, “Robust Control of a Lightweight Structure for Digital Fabrication,” in Proc. IFAC Control World Congress, Berlin, Germany, July, 2020. <code> Y. Stürz, M. Morari and R.S. Smith, “Control of an Architectural Cable Net Geometry,” IEEE Trans. Control Systems Technology, vol. 28, no. 4, pp. 1378–1392, 2020. A. Liew, Y.R. Stürz, S. Guillaume, T. Van Mele, R.S. Smith and P. Block, “Active control of a rod-net formwork system prototype,” Automation in Construction, vol. 96, pp. 128–140, 2018. Y. Stürz, M. Morari and R. Smith, “Sequential Quadratic Programming for the Control of an Architectural Cable Net Geometry,” in Proc. American Control Conf., pp. 3503–3508, July 2016.

• Y. Stürz, M. Morari and R. Smith, “Two methods for the identification of uncertain parameters of an architectural cable net geometry,” IEEE Multi-Conf. Systems & Control, pp. 804–809, Sept. 2016.

Power systems

• A. Rezaeizadeh, R. Smith, and S. Mastellone, “Stealthy Cyber Attack Filter and its Impact on Control of Grid-forming Inverter,” IEEE Conf. on Decision & Control, pp. 2367–2372, Dec. 2024.

• V. Häberle, L. Huang, X. He, E. Prieto-Araujo, R. Smith, and F. Dörfler, “MIMO Grid Impedance Identification of Three-Phase Power Systems: Parametric vs. Nonparametric Approaches,” Proc. Conf. on Decision & Control, pp. 542–548, Dec. 2023.

• F. Bünning, J. Warrington, P. Heer, R.S. Smith, and J. Lygeros, “Frequency regulation with heat pumps using robust MPC with affine policies,” in Proc. IFAC Control World Congress, Berlin, Germany, July, 2020.

• S. Merkli and R.S. Smith, “Scalable Power System Line Upgrade Planning With Policy Constraints: A “Branch and Benders” Approach,” arXiv:1906.06210v2, (revised: 4 Jan. 2022), June, 2019.

• S. Merkli and R.S. Smith, “Power System Upgrade Planning with On-load Tap-changing Transformers, Switchable Topology and Operating Policies,” in Proc. European Control Conf., Napoli, Italy, pp. 1424–1430, June, 2019.

• S. Merkli, A. Domahidi, J. Jerez, M. Morari, and R. Smith, “Fast AC power flow optimization using difference of convex functions programming,” IEEE Trans. Power Systems, vol. 33, no. 1, pp. 363–372, 2018.

• S. Merkli, A. Domahidi, J. Jerez, and R.S. Smith, “Globally optimal AC power system upgrade planning under operational policy constraints,” in Proc. European Control Conf., pp. 131–136, 2018.

• F. Oldewurtel, D. Sturzenegger, G. Andersson, M. Morari and R.S. Smith, “Towards a standardized building assessment for demand response,” in Proc. Conf. on Decision & Control, pp. 7083–7088, Dec. 2013.

Magnetic bearings

A.S. Ghersin, R.S. Smith and R.S. Sánchez Peña, “LPV control of a magnetic bearing experiment,” J. Latin American Applied Research, vol. 40, no. 4, pp. 303–310, 2010 N. Morse Thibeault and R. Smith, “Magnetic Bearing Measurement Configurations and Associated Robustness and Performance Limitations,” ASME J. Dynamic Systems, Measurement, & Control, vol. 124, no. 4, pp. 589–598, Dec., 2002. T. Namerikawa, M. Fujita, R. Smith and U. Kenko, “A Generalized \(H_{\infty}\) Control System Design Attenuating Initial State Uncertainties,” in Proc. American Control Conf., vol. 3, pp. 2204–2209, May 2002.

• N. Morse Thibeault and R. Smith, “Fundamental Limits in Robustness and Performance for Unstable, Underactuated Systems,” IEEE Trans. Automatic Control, vol. 46, no. 8, pp. 1265–1268, 2001.

• T. Namerikawa, M. Fujita and R.S. Smith, “\(H_{\infty}\) Control System Design Attenuating Initial State Uncertainties: Evaluation by a Magnetic Suspension System,” in Proc. Conf. on Decision & Control, pp. 87–92, Dec. 2001.

• N. Morse Thibeault and R. Smith, “Robustness Comparison of a Magnetic Bearing System in Various Measurement Configurations,” Proc. American Control Conf., pp. 3002–3003, June 2000.

• N. Morse, R. Smith, B. Paden and J. Antaki, “Magnetic Bearing Output Configurations and Associated Robustness and Performance Limitations,” Proc. Conf. on Decision & Control, pp. 2599–2604, Dec. 1998.

Automotive and engine control systems

• A. Rezaeizadeh and R. Smith, “An adaptive iterative learning control scheme for reducing CO2 emission in gasoline engines,” in Proc. European Control Conf., pp. 1394–1397, July 2015.

• A. Stefanopoulou, O. Storset and R. Smith, “Pressure and Temperature based Adaptive Observer of Air Charge for Turbocharged Diesel Engines,” Int. J. Robust & Nonlinear Control, vol. 14, no. 6, pp. 543–560, April, 2004.

• O. Storset, A. Stefanopoulou and R. Smith, “Adaptive Air Charge Estimation for Turbocharged Diesel Engines without Exhaust Gas Recirculation,” ASME J. Dynamic Systems, Measurement & Control, vol. 126, no. 3, pp. 633–643, June, 2004.

• Y. Wang, A. Stefanopoulou and R. Smith, “Inherent Limitations and Control Design for a Camless Engine Idle Speed Dynamics,” Int. J. Robust & Nonlinear Control vol. 11, no. 11, pp. 1023–1042, Sept. 2001.

• A. Stefanopoulou and R. Smith, “Maneuverability and Smoke Emission Constraints in Marine Diesel Propulsion,” Control Engineering Practice, vol. 8, no. 9, pp. 1023–1031, 2000.

• O. Storset, A. Stefanopoulou, R. Smith, “Air-charge Estimation for Turbo Charged Diesel Engines,” in Proc. American Control Conf., vol. 1, pp. 39–44, June 2000.

• R. Smith, H. Anderson, and J.E. Morris. “Data Acquisition and Analysis in a Vehicle with a Commodore PET.” J. Physics E: Scientific Instruments, vol. 15, pp. 1114–1118, 1982.

• J.E. Morris, H. Anderson, and R. Smith. “Retrofit Feedback Control of A/F Ratio and Ignition Timing for Fuel Economy,” Trans. Society Automotive Engineers, SAE paper no. 820389, 1982.

Metalorganic chemical vapor deposition (MOCVD) systems

J. Burnsed, S. DenBaars and R. Smith, “Limitations of using normal-incidence, in-situ, optical growth rate monitor for controlling Nitride semiconductor deposition by Metalorganic Chemical Vapor Deposition,” in Proc. IEEE Conf. Control Applications, vol. 2, pp. 849–855, June, 2003. M. Gaffney Flynn, R. Smith, P. Abraham and S. DenBaars, “Control of a III-V MOCVD Process using Ultraviolet Absorption and Ultrasonic Concentration Monitoring,” IEEE Trans. Control Systems Technology, vol. 9, no. 5, pp. 728–740, Sept. 2001.

• M.S. Gaffney, C.M. Reaves, R.S. Smith, A.L. Holmes, Jr., and S.P. DenBaars, “Control of III-V Epitaxy in a Metalorganic Chemical Vapor Deposition Process: Impact of Source Flow Control on Composition and Thickness,” J. Crystal Growth, vol. 167, Oct. (2), pp. 8–16, 1996.

• M.S. Gaffney, C.M. Reaves, A.L. Holmes, Jr., S.P. DenBaars, and R.S. Smith, “Modeling and control of a metalorganic chemical vapor deposition process for III-V compound semiconductor epitaxy,” in Proc. IFAC Control World Congress, vol. 29, pp. 719–724, July, 1996.

• M.S. Gaffney, R.S. Smith, A.L. Holmes Jr., C.M. Reaves, and S.P. DenBaars, “Improved Composition and Thickness Control of III-V Epitaxy in a Metalorganic Chemical Vapor Deposition Process,” Proc. Conf. on Decision & Control, pp. 2490–2495, Dec. 1995.

Control of flexible structures

R.S. Smith, “Closed-loop Identification of Flexible Structures: An Experimental Example,” AIAA J. Guidance, Control & Dynamics, vol. 21, no. 3, pp. 435–440, 1998. R.S. Smith, C-C. Chu and J.L. Fanson, “The Design of \(H_{\infty}\) Controllers for an Experimental Non-collocated Flexible Structure Problem,” IEEE Trans. Control Systems Technology, vol. 2, no. 2, pp. 101–109, June, 1994. J.L. Fanson, C-C. Chu, B.J. Lurie, and R.S. Smith. “Damping and Structural Control of the JPL Phase 0 Testbed Structure,” J. Intelligent Material Systems & Structures, vol. 2, no. 3, pp. 281–300, 1991. J.L. Fanson, B.J. Lurie, J.F. O’Brien, C-C. Chu, and R.S. Smith. “System Identification and Control of the JPL Active Structure”, Proc. 32nd SDM Conf., paper no. AIAA 91-1231, 1991. R.S. Smith, “Eigenvalue Perturbation Models for Flexible Structures,” in Proc. Conf. on Decision & Control, vol. 2, pp. 1638–1639, December, 1991.

• J.L. Fanson, C-C. Chu, R.S. Smith, and E.H. Anderson. “Active Member Control of a Precision Structure with an \(H_{\infty}\) Performance Objective”. Proc. AIAA Dynamics Specialists Conf., pp. 322–333, paper no. AIAA 90–1224–CP, 1990.

• J.L. Fanson, H.C. Briggs, C-C. Chu, B.J. Lurie, R.S. Smith, D.B. Eldred, and D. Liu, “JPL CSI Phase-0 Experiment Results and Real Time Control Computer,” Proc. 4th NASA/DoD Control/Structures Interaction Technology Conf., pp. 614–628, 1990.

Human perception and control

• K.L. Macuga, A.C. Beall, R.S. Smith, and J.M. Loomis, “Visual control of steering in curve driving,” J. Vision, vol. 19, no. 5, pp. 1–12, 2019.

• K.L. Macuga, A.C. Beall, J.W. Kelly, R.S. Smith and J.M. Loomis, “Changing lanes: inertial cues and explicit path information facilitate steering performance when visual feedback is removed,” Experimental Brain Research, vol. 178, no. 2, pp. 141–150, April, 2007.

• J.W. Kelly, J.M. Loomis, A.C. Beall, Roy S. Smith and Kristen L. Macuga, “Simultaneous measurement of steering performance and perceived heading on a curving path,” ACM Trans. on Applied Perception, vol. 3, no. 2, pp. 83–94, April, 2006.

• J.M. Loomis, A.C. Beall, K.L. Macuga, Jonathan W. Kelly and Roy Smith, “Visual control of action without retinal optic flow,” Psychological Science, vol. 17, no. 3, pp. 214–221, 2006.

Modeling of PDEs

• M.A. Erickson, R.S. Smith and A.J. Laub, “Power Methods for Calculating Eigenvalues and Eigenvectors of Spectral Operators on Hilbert Spaces,” Int. J. Control, vol. 62, no. 5, pp. 1117–1128, 1995.

• M.A. Erickson, R.S. Smith and A.J. Laub, “Finite-Dimensional Approximation and Error Bounds for Spectral Systems with Partially known Eigenstructure,” IEEE Trans. Automatic Control, vol. 39, no. 9, pp. 1904–1909, Sept. 1994.

• M.A. Erickson, R.S. Smith and A.J. Laub, “Finite-Dimensional Approximation and Error Bounds for Spectral Systems,” Proc. Conf. on Decision & Control, pp. 1848–1853, Dec., 1993.

• M. Erickson, R.S. Smith and A.J. Laub, “Calculating Finite-Dimensional Approximations to Infinite-Dimensional Linear Systems,” Proc. American Control Conf., pp. 157–161, June, 1992.

Miscellaneous applications

• E.C. Balta, A. Iannelli, R.S. Smith, and J. Lygeros, Regret Analysis of Online Gradient Descent-based Iterative Learning Control with Model Mismatch," Proc. Conf. on Decision & Control, Dec., 2022.

• M. Khosravi, C. Koenig, M. Maier, R.S. Smith, J. Lygeros, and A.B. Rupenyan-Vasileva, “Safety-Aware Cascade Controller Tuning Using Constrained Bayesian Optimization,” IEEE Trans. Industrial Electonics, vol. 72, no. 2, pp. 2128-2138, 2023.

• M. Khosravi, V.N. Behrunani, P. Myszkorowski, R.S. Smith, A. Rupenyan, and J. Lygeros, “Performance-Driven Cascade Controller Tuning with Bayesian Optimization,” IEEE Trans. Indust. Electronics, vol. 69, no. 1, pp. 1032–1042, 2022.

• M. Müller, M. Osterreich, A. von Hessling, and R.S. Smith, “Incomplete recovery of cerebral blood flow dynamics in sufficiently treated high blood pressure,” J. Hypertension, vol. 37, no. 2, pp. 372–379, 2019.

• G. Torrisi, S. Mariéthoz, R. Smith and M. Morari, “Comparison of the efficiency of different magnetization strategies for a variable speed induction machine drive,” European Conf. Power Electronics & Applications, pp. 1–10, Sept., 2015.

• P. Blixt, J.E. Bowers, E. Bodtker, O. Sahlen and R. Smith, “Optical Data Synchronization using Tunable Transmitters and Non-Zero Dispersion Links,” IEEE Microwave Theory & Techniques, vol. 43, no. 9, pp. 2214–2221, Sept., 1995.