CENDAC - Publications

Consolidated publications for Academic Year 2008/2009 are listed below.  Publications relevant to a particular field may be found under the corresponding Research Laboratory page:

Journal Articles 2008/09

  1. S.G. Nersesov and W.M. Haddad, “Reversibility and Poincare Recurrence in Linear Dynamical Systems,” IEEE Trans. Autom. Contr., vol. 53, no. 9, pp. 2160-2165, 2008.
  2. S.G. Nersesov and W.M. Haddad, “Finite-Time Stabilization of Nonlinear Impulsive Dynamical Systems,” Nonlinear Analysis: Hybrid Systems, vol. 2, pp. 832-845, 2008.
  3. S.G. Nersesov, W.M. Haddad, and Q. Hui, “Finite-Time Stabilization of Nonlinear Dynamical Systems via Control Vector Lyapunov Functions,” J. Franklin Inst., vol. 345, pp. 819-837, 2008.
  4. W.M. Haddad, V. Chellaboina, and S.G. Nersesov, “Time-Reversal Symmetry, Poincare Recurrence, Irreversibility, and the Entropic Arrow of Time: From Mechanics to System Thermodynamics,” Nonlinear Analysis: Real World Applications, vol. 9, pp. 250-271, 2008.
  5. S.G. Nersesov, C. Nataraj, and J.M. Avis, “Design of Finite-Time Stabilizing Controllers for Nonlinear Dynamical Systems,” Int. J. of Robust and Nonlin. Contr., vol. 19, pp. 900-918, 2009.
  6. Ashrafiuon, H., and Jala, V. R., “Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys,” ASME Journal of Dynamic Systems, Measurement and Control, vol. 131, no. 1, January 2009, 011010.
  7. Ashrafiuon, H., Muske, K. R., McNinch, L. C., and Soltan, R., “Sliding Model Tracking Control of Surface Vessels,” IEEE Transactions on Industrial Electronics SS on Sliding Mode Control in Industrial Applications , vol. 55, no. 11, November 2008, pp. 4004-4012.
  8. Ashrafiuon, H., and Irwin, R. S., “Sliding Mode Control of Underactuated Multibody Systems and Its Application to Shape Change Control” International Journal of Control., vol. 81, no.12, pp. 1849 – 1858, 2008
  9. Fahimi, F., Nataraj, C., and Ashrafiuon, H., “Real Time Obstacle Avoidance for Groups of Mobile Robots,” Robotica, vol. 17, no. 2, March 2009, pp. 189-198.
  10. Akgün D., Çankaya İ.,. Peyton Jones, J. C, “A symbolic algorithm for the automatic computation of multitone-input harmonic balance equations for nonlinear systems,” Nonlinear Dynamics, Volume 56, Numbers 1-2 / April, 2009
  11. Peyton Jones JC, Muske KR, “A Database-Driven In-Cycle Engine Simulator for Control, Calibration, and Robustness Testing”, SAE International Journal of Passenger Cars – Electronic & Electrical Systems, Vol.1, No.1, pp.425-431, also paper no.2008-01-1002, pp.1-7, (2008)
  12. Muske KR, Peyton Jones JC, Franceschi EM, “Adaptive Analytical Model-based Control for SI Engine Air Fuel Ratio”, IEEE Trans. Cont. Sys. Tech, Vol.16, No.4, pp.763-768, (2008)
  13. Muske KR, Peyton Jones JC, “Model-based Control and Diagnostic Monitoring for Automotive Catalyst Systems”, Control and Intelligent Systems, 36(3), (2008)
  14. Muske, K.R., J.C. Peyton Jones, J.S. Kirschman J.C. Frey, I.H. Makki, M.J. Uhrich, J.W. Howse, “Probability Density Diagnostic Metric for an Integrated Three-way Catalyst Controller and Monitor”, Proceedings. IMechE. Part D: Journal of. Automobile. Engineering., Vol.222, No.11, pp.2001-2010, (2008)
  15. Muske KR, Peyton Jones JC, Howse JW, “A Model-based Approach to Automotive Three-way Catalyst On-board Monitoring”, Journal of Process Control, Vol.18, No.2, pp163-172, (2008)
  16. Fahimi, F., Rineesh, S. & Nataraj, C. (2008), 'Formation controllers for underactuated surface vessels and zero dynamics stability', Control and Intelligent Systems 36(3), 277 - 287.
  17. C. Nataraj and Harsha, S. P., (2008) “The Effect of Bearing Cage Run-out on Nonlinear Dynamics of Rotating Shaft.” Communications in Nonlinear Science and Numerical Simulation, Vol. 13, pp. 822 - 838.
  18. Harsha, S. P. & Nataraj, C. (2008), 'Nonlinear Vibration Analysis of a Rotor Bearing System Due to Surface Imperfection of Rolling Elements', Mechanics Based Design of Structure and Machines.
  19. Mousavi, P. N.; Nataraj, C.; Bagheri, A. & Entezari, M. A. (2008), 'Mathematical simulation of combined trajectory paths of a seven link biped robot', Applied Mathematical Modelling  32(7), 1445 - 1462.
  20. Samanta, B. & Nataraj, C. (2008), 'Prognostics of machine condition using soft computing', Robotics and Computer-Integrated Manufacturing  24(6), 816 - 823.
  21. Harsha, S. P. and Nataraj C. (2008) “Nonlinear Dynamic Analysis of a Rotor Bearing System Due to Distributed Defects Using Factorial Design of Experiments.” International Journal of Applied Mechanics and Engineering, Vol. 12, No. 1, pp.  1- 12.
  22. Samanta, B. & Nataraj, C. (2008), 'Automated diagnosis of cardiac state in healthcare systems using computational intelligence', International Journal of Services Operations and Informatics  3(2), 162 - 177.
  23. Samanta, B. and Nataraj, C. Surface roughness prediction in machining using computational intelligence. International Journal of Manufacturing Research, Vol. 3, No. 4, pp 379-392, 2008.

Book Chapters:  Academic Year 2008/09

  1. W.M. Haddad, S. G. Nersesov, and L. Du, “Finite-Time Stability for Time-Varying Nonlinear Dynamical Systems," in: Advances in Nonlinear Analysis: Theory Methods and Applications, S. Sivasundaram, J. V. Devi, Z. Drici, and F. Mcrae, Eds., Cambridge Scientific Publishers, pp. 139-150, 2009.
  2. Harsha, S. P. and Nataraj C. (2008) “Intermittent Chaotic Behavior of Unmanned Surface Vehicles (USV) due the Rudder Frequencies and amplitudes.” Transaction of Nonlinear Science and Complexity (NSC), Vol. 4, pp 135 - 142, World Scientific publication, USA

Conference Publications:  Academic Year 2008/09

  1. J.M. Avis, S.G. Nersesov, and R. Nathan, “Energy-Based Hybrid Control for the RTAC System: Experimental Results,” Proc. Amer. Contr. Conf., pp. 3331-3336, Seattle, WA, June, 2008.
  2. W.M. Haddad, S.G. Nersesov, and L. Du, “Finite-Time Stability Theory for Time-Varying Nonlinear Dynamical Systems,” Proc. Amer. Contr. Conf., pp. 4135-4139, Seattle, WA, June, 2008.
  3. J.M. Avis, S.G. Nersesov, and R. Nathan, “Decentralized Energy-Based Hybrid Control for the Multi-RTAC System," Proc. Amer. Contr. Conf., St. Louis, MO, June, 2009, to appear.
  4. S.G. Nersesov, P. Ghorbanian, “Control Design for Multi-Vehicle Coordinated Motion. Stabilization of Closed Sets and Tracking”, Intelligent Ships Symposium VIII, Drexel University, Philadelphia, PA, May 2009.
  5. S. Konyk, Jr. and John Metzer, "A Vector Integration Framework for Autonomous Navigation Realization", American Society of Naval Engineers Intelligent Ship Symposium VIII,. May 2009
  6. S. Konyk, Jr., John Messick, Dorothy Kraynik and Vincent Tolotta, "Air Cushion Vehicle Navigation and Maneuvering", American Society of Naval Engineers Intelligent Ship Symposium VIII, May 2009.
  7. McNinch, L. C., H., Muske, K. R., and Ashrafiuon, H., “Optimal Specification of Sliding Mode Control Parameters for Unmanned Surface Vessel Systems,” American Control Conference, St. Louis, MO, 2009
  8. Soltan, R. A., Ashrafiuon, H., and Muske, K. R., “State-Dependent Trajectory Planning and Tracking Control of Unmanned Surface Vessels,” American Control Conference, St. Louis, MO, 2009
  9. Soltan, R. A., Ashrafiuon, H., and Muske, K. R., “Coordinated Trajectory Planning and Tracking Control,” ASME Design Technical Conferences, San Diego, CA., 2009
  10. Soltan, R. A., Ashrafiuon, H., and Muske, K. R., “Real-Time Obstacle Avoidance for Underactuated Unmanned Surface Vessels,” ASME Design Technical Conferences, San Diego, CA. , 2009
  11. McNinch, L. C., H., Muske, K. R., and Ashrafiuon, H., “Model-Based Predictive Control of an Unmanned Surface Vessel,” The 11th IASTED International Conference, Intelligent Systems and Control (ISC 2008), Nov. 16-18, 2008, Orlando, FL, pp. 385 – 390, 2008.
  12. G. M. Clayton and S. Devasia, Theory for image-based trajectory estimation in scanning probe microscopes. 2009 American Control Conference, St. Louis, MO, 2009
  13. N. Hubnalli Narayan and P. Singh, "Lithium-Ion battery/5kW PEM Fuel Cell Stack/Solar Panels-based Hybrid Power system for an Unmanned Surface Vehicle",   Procs. 43rd Power Sources Conf. July 7-11, 2008 (Philadelphia, PA)
  14. P. Singh, E. Dougherty, J. Klingler and W. Hurley, “A Novel Engineering Entrepreneurship Model”, Procs. 2008  International Conference on Engineering Education (Pecs/Budapest Hungary) July 28-31, 2008
  15. P. Singh, R. Suri, A. Ortega and W. Lorenz, “Work in Progress - An Innovative Sustainable Energy Engineering Graduate Curriculum”, Procs. 2008  Frontiers in Education Conference (Saratoga Springs, NY) October 22-25, 2008
  16. K. Schmieder, and P. Singh, " Optimization of Hydrogen Storage/Generation for a Hybrid Battery/Fuel Cell Powered Unmanned Surface Vehicle", Procs. EVS 24 (Stavanger, Norway) May 12-16, 2009
  17. N. Khare, T. Ramachandrudu, K. Schmieder, P. Singh, and P. Kilbourn, “Hybrid Power Management for an Autonomous Boat”, Procs. Intelligent Ships Symposium, (Philadelphia, PA) May 20-21, 2009
  18. Muske KR, Peyton Jones JC, Schallock RW, Application of an Adaptive Delay-Compensated PI Controller, 17th IEEE International Conference on Control Applications, in Proceedings of the 2nd IEEE Multi-Conference on Systems and Control, pp.781-785, (2008)
  19. Kirschman JS, Frey JC, Muske KR, Peyton Jones JC, Makki IH, Uhrich MJ, A Probability Density Metric for Automotive Three-Way Catalyst Diagnostics, Proceedings of the 2008 American Control Conference, pp.2064-2069, (2008). 
  20. Peyton Jones JC, Muske KR, Frey JC, Scholl D, A Stochastic Knock Control Algorithm, SAE International Congress, paper no.2009-01-1017, pp.1-7, (2009)
  21. Schallock RW, Muske KR, Peyton Jones JC, Model Predictive Functional Control for an Automotive Three-Way Catalyst, SAE International Congress, paper no.2009-01-1017, pp.1-7, (2009)
  22. Bassi DF, Fink W, Optimal Attitude Control Parameters via Stochastic Optimization Framework for Autonomous Aircraft, 2009 IEEE Aerospace Conference, Big Sky, Montana, Mar 7-14, 2009
  23. Shead, L. R. E., K. R. Muske, and J. A. Rossiter, “Sufficient conditions for which MPC converges to the correct target”, Proceedings of the 2008 International Workshop on Assessment and Future Directions of Nonlinear Model Predictive Control, paper 157, 2008.
  24. Shead, L. R. E., K. R. Muske, and J. A. Rossiter, “Conditions for which MPC fails to converge to the correct target'', Proceedings of the 17th IFAC World Congress, 6968--6973, 2008.
  25. Shead, L. R. E., K. R. Muske, and J. A. Rossiter, “Adaptive steady-state target optimization using iterative modified gradient-based methods in linearnon-square MPC.'' Proceedings of the 2009 American Control Conference, 2009
  26. Harsha, S. P. and Nataraj C., (2008) “Nonlinear Response of Steering Dynamics of Ship due to Rudder Frequency.” 12th International Conference on Nonlinear Vibrations, Stability and Dynamics of Structures, June 1-5, 2008, Virginia Tech, Blacksburg, VA, USA.
  27. Samanta, B. and Nataraj, C. Prognostics of machine condition using energy based monitoring index and computational intelligence. Proceedings of ASME 2008 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2008), Aug. 3-6, 2008, Brooklyn, NY, Paper DETC2008-49638.
  28. Samanta, B. and Nataraj, C. Design of intelligent ship autopilots using particle swarm optimization. Proc. IEEE Swarm Intelligence Symposium, St. Louis, Missouri, September 21-23, doi: 10.1109/SIS.2008.4668327, 2008.
  29. Samanta, B. and Nataraj, C. Prognostics using morphological signal processing and computational intelligence. Proceedings 1st IEEE International Conference on Prognostics and Health Management (PHM2008), Denver, CO, Oct. 6-9,
  30. C. Nataraj and Steven Marx, 2007, "Optimal Control of A Nonlinear Magnetic Bearing System Using The Trigonometric Collocation Method," ASME Smart Materials, Adaptive Structures and Intelligent Systems, Ellicott City, MD, November 2008.         
  31. Muske, K. R., Ashrafiuon, H., and Whitman, A. M., “Estimation of Infectious Disease Parameters from Initial-time Asymptotic Analysis,” Modeling and Control of Diseases, AIChE Annual Meeting, November 16-21, 2008, Philadelphia, PA.
  32. Peyton Jones JC, Muske KR, “Stochastic Prediction and Control of Cyclic Combustion Variation in Internal Combustion Engines”, 2008 American Institute of Chemical Engineers Annual Meeting, Philadelphia, paper 471f, (2008)
  33. Karthik Kappaganthu and C. Nataraj, 2007, “A biped with a moving torso,” AIAA/ASME Symposium, Philadelphia, PA, December 2007.
  34. Lawson J, (contributor Peyton Jones JC), “Reaction Time”, Engine Technology International, March (2009)

Patent Applications:  Academic Year 2008/09

  1. Singh P, “Superlattice solar cells and method of making superlattice solar cells”, May (2009)


Contact Us

Dr. Hashem Ashrafiuon
800 Lancaster Ave
Villanova University
Villanova, PA 19085


  • To conduct fundamental and applied research in the areas of nonlinear dynamics and control.
  • To apply advanced theoretical and experimental techniques to solve real world problems.
  • To promote and foster strong interdisciplinary research at Villanova capitalizing on our collegial atmosphere.
  • To aid in the educational process of our undergraduate and graduate students by encouraging and funding their involvement in the research projects.
  • To develop and transfer technology to the industry consistent with the industry's needs and vision ultimately enhancing their competitiveness.