Publications

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Books:

-       2015

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Journal papers:

-    2020

Gritli, H., Zemouche, A., & Belghith, S.: On LMI conditions to design robust static output feedback controller for continuous-time linear systems subject to norm-bounded uncertainties. International Journal of Systems Science, XX, pp. XXX-XXX (2020)

Gritli, H., & Belghith, S.: LMI-based synthesis of a robust saturated controllerfor an underactuated mechanical system subject to motion constraints. European Journal of Control, XX, p. XXX (2020)

Znegui, W., Gritli, H., & Belghith, S.: Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map. Nonlinear Dynamics, 101(2), pp. 1061-1091(2020)

Gritli, H.: Occasional stabilization of limit cycle walking and control of chaos in the passive dynamics of the compass-gait biped model. International Journal of Automation and Control, XX, pp. XXX-XXX (2020)

Turki, F., Gritli, H., & Belghith, S.: An LMI-based design of a robust state-feedback control for the master-slave tracking of an impact mechanical oscillator with double-side rigid constraints and subject to bounded-parametric uncertainty. Communications in Nonlinear Science and Numerical Simulation, 82, p. 105020 (2020)

Gritli, H.: LMI-Based Robust Stabilization of a Class of Input-Constrained Uncertain Nonlinear Systems with Application to a Helicopter Model.  Complexity, 2020(ID 7025761), 22 pages (2020)

Znegui, W., Gritli, H., & Belghith, S.: Erratum to: “Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model”. Chaos, Solitons & Fractals, 133, p. 109652 (2020)

Znegui, W., Gritli, H., & Belghith, S.: Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model. Chaos, Solitons & Fractals, 130, p. 109436 (2020)

-    2019

Gritli, H.: Robust master-slave synchronization of chaos in a one-sided 1-DoF impact mechanical oscillator subject to parametric uncertainties and disturbances. Mechanism and Machine Theory, 142, p. 103610 (2019)

Gritli, H.: Poincaré maps design for the stabilization of limit cycles in non-autonomous nonlinear systems via time-piecewise-constant feedback controllers with application to the chaotic Duffing oscillator.  Chaos, Solitons & Fractals, 127, pp. 127-145 (2019)

Turki, F., Gritli, H., & Belghith, S.: Robust Position Control of a Two-Sided 1-DoF Impacting Mechanical Oscillator Subject to an External Persistent Disturbance by Means of a State-Feedback Controller. Complexity, 2019(ID 9174284), 14 pages (2019)

-       2018

Gritli, H.,  & Belghith, S.: Robust feedback control of the underactuated Inertia Wheel Inverted Pendulum under parametric uncertainties and subject to external disturbances: LMI formulation. Journal of the Franklin Institute, 355(18), pp.9150-9191 (2018)

Gritli, H.,  Khraief, N., & Belghith, S.: Complex walking behaviours, chaos and bifurcations of a simple passive compass-gait biped model suffering from leg length asymmetry. International Journal of Simulation and Process Modelling, 13(5), pp. 446-462 (2018)

Gritli, H.,  & Belghith, S.: Diversity in the nonlinear dynamic behavior of a one-degree-of-freedom impact mechanical oscillator under OGY-based state-feedback control law: Order, chaos and exhibition of the border-collision bifurcation. Mechanism and Machine Theory, 124, pp. 1-41 (2018)

Gritli, H.,  & Belghith, S.: Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: Rise of the Neimark–Sacker bifurcation.  Chaos, Solitons & Fractals, 110, pp. 158-168 (2018)

-       2017

Gritli, H.,  Khraief, N., Chemori, A. & Belghith, S.: Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC. Nonlinear Dynamics, 89(3), pp. 2195-2226 (2017)

Khraief, N., Belghith, S., Gritli, H., & Chemori, A.: From Hopf Bifurcation to Limit Cycles Control in Underactuated Mechanical Systems. International Journal of Bifurcation and Chaos, 27(7), pp. 1750104 (2017)

Gritli, H.,  & Belghith, S.: Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: Analysis of local bifurcations via the hybrid Poincaré map.  Chaos, Solitons & Fractals, 98, pp. 72-87 (2017)

Gritli, H.,  & Belghith, S.: Walking dynamics of the passive compass-gait model under OGY-based control: Emergence of bifurcations and chaos. Communications in Nonlinear Science and Numerical Simulation, 47, pp. 308-327 (2017)

-       2016

Gritli, H., & Belghith, S.: Bifurcations and chaos in the semi-passive bipedal dynamic walking model under a modified OGY-based control approach. Nonlinear Dynamics, 83(4), pp. 1955-1973 (2016)

Gritli, H., & Belghith, S.: Displayed phenomena in the semi-passive torso-driven biped model under OGY-based control method: Birth of a torus bifurcation. Applied Mathematical Modelling, 40(4), pp. 2946-2967 (2016)

-       2015

Gritli, H., & Belghith, S.: Computation of the Lyapunov exponents in the compass-gait model under OGY control via a hybrid Poincaré map. Chaos, Solitons & Fractals, 81, Part A, pp. 172-183 (2015)

Gritli, H., Belghith, S., & Khraeif, N.: OGY-based control of chaos in semi-passive dynamic walking of a torso-driven biped robot. Nonlinear Dynamics, 79(2), pp. 1363-1384 (2015)

-       2013

Gritli, H., Khraeif, N., & Belghith, S.: Chaos control in passive walking dynamics of a compass-gait model. Communications in Nonlinear Science and Numerical Simulation, 18(8), pp. 2048-2065 (2013)

-       2012

Gritli, H., Belghith, S., & Khraeif, N.: Cyclic fold bifurcation and boundary crisis in dynamic walking of biped robots. International Journal of Bifurcation and Chaos, 22(10), Paper No. 1250257, 15 p. (2012)

Gritli, H., Khraeif, N., & Belghith, S.: Period-three route to chaos induced by a cyclic-fold bifurcation in passive dynamic walking of a compass-gait biped robot. Communications in Nonlinear Science and Numerical Simulation, 17(11), pp. 4356-4372 (2012)

Gritli, H., Belghith, S., & Khraeif, N.: Intermittency and interior crisis as route to chaos in dynamic walking of two biped robots. International Journal of Bifurcation and Chaos, 22(3), Paper No. 1250056, 19 p. (2012)

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Book Chapters:

-       2016

Gritli, H., & Belghith, S.: Identification, Stability and Stabilization of Limit Cycles in a Compass-Gait Biped Model via aHybrid Poincaré Map. In: Vaidyanathan S. and Volos C. (Eds), Advances and Applications in Nonlinear Control Systems, Studies in Computational Intelligence, Vol. 635 pp. 259-289, Springer International Publishing, 2016.

-       2015

Gritli, H., Belghith, S., & Khraeif, N.: Chaos control of an impact mechanical oscillator based on the OGY method. In:  Azar A.T. and Vaidyanathan S. (Eds), Handbook of Research on Advanced Intelligent Control Engineering and Automation, pp. 259-278, USA, IGI Global, Hershey, PA: Engineering Science Reference, 2015.

Gritli, H., Khraeif, N., & Belghith, S.: Further investigation of the period-three route to chaos in the passive compass-gait biped model. In:  Azar A.T. and Vaidyanathan S. (Eds), Handbook of Research on Advanced Intelligent Control Engineering and Automation, pp. 279-300, USA, IGI Global, Hershey, PA: Engineering Science Reference, 2015.

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Conference papers:

-       2020

-       2019

• Gritli, H., Belghith, S., & Zemouche, A.: LMI-based design of robust static output feedback controller for uncertain linear continuous systems. International Conference on Advanced Systems and Electric Technologies (IC_ASET), Hammamet, Tunisia, pp. 243-248 (2019)

• Gritli, H., Zemouche, A., & Belghith, S.: Static output feedback control of discrete-time linear systems: Background results and new LMI conditions. International Conference on Advanced Systems and Electric Technologies (IC_ASET), Hammamet, Tunisia, pp. 249-255 (2019)

• Turki, T., Gritli, H., & Belghith, S.: LMI-Based Robust Position Control of an Impacting Oscillator with Double-Side Asymmetric Rigid Constraints. International Conference on Advanced Systems and Electric Technologies (IC_ASET), Hammamet, Tunisia, pp. 215-222 (2019)

• Znegui, W., Gritli, H., Haddad, N. K., & Belghith, S.: An Explicit Analytical Expression of the Poincaré Map for Analyzing Passive Dynamic Walking of the Compass-Gait Biped Model. International Conference on Advanced Systems and Electric Technologies (IC_ASET), Hammamet, Tunisia, pp. 388-394 (2019)

-       2018

• Gritli, H., & Belghith, S.: New LMI conditions for static output feedback control of continuous-time linear systems with parametric uncertainties. IEEE European Control Conference (IEEE ECC), Limassol, Cyprus, pp. 527-532 (2018)

• Gritli, H., & Belghith, S.: LMI-Based Design of State Feedback Controller for Lipschitzian Nonlinear Systems. 15th IEEE International Multi-Conference on Systems, Signals & Devices (IEEE SSD), Hammamet, Tunisia, pp. 353-361 (2018)

• Turki, T., Gritli, H., & Belghith, S.: Robust feedback control of a mechanical system under double-side constraints using LMIs and ellipsoidal sets. 15th IEEE International Multi-Conference on Systems, Signals & Devices (IEEE SSD), Hammamet, Tunisia, pp. 1428-1434 (2018)

• Yahia, R., Gritli, H., Haddad, N. K., & Belghith, S.: Robust Control of a Robotic Manipulator Using LMI-Based High-Gain State and Disturbance Observers. 15th IEEE International Multi-Conference on Systems, Signals & Devices (IEEE SSD), Hammamet, Tunisia, pp. 1190-1196 (2018)

• Gritli, H., Turki, T., & Belghith, S.: State-feedback control via LMI approach of a 1-DOF disturbed impacting mechanical oscillator under double-side rigid constraints. International Conference on Advanced Systems and Electric Technologies (IC_ASET), Hammamet, Tunisia, pp. 441-448 (2018)

• Turki, T., Gritli, H., & Belghith, S.: A linear matrix inequality approach for the position control of a double-side impact mechanical oscillator via a state feedback law. International Conference on Advanced Systems and Electric Technologies (IC_ASET), Hammamet, Tunisia, pp. 118-124 (2018)

• Yahia, R., Gritli, H., Haddad, N. K., & Belghith, S.: Robust observer-based stabilization of linear systems with parametric uncertainties: Comparisons and suggested improvements. International Conference on Advanced Systems and Electric Technologies (IC_ASET), Hammamet, Tunisia, pp. 233-240 (2018)

-       2015

• Gritli, H., & Belghith, S.: Master-Slave Controlled Synchronization to Control Chaos in an Impact Mechanical Oscillator. 12th IEEE International Multi-Conference on Systems, Signals Devices (IEEE SSD15), Mahdia, Tunisia, pp. 01-06 (2015)

-       2014

• Gritli, H., Belghith, S., & Khraeif, N.: Control of Chaos in an Impact Mechanical Oscillator. International Conference on Automation, Control, Engineering and Computer Science (ACECS'14), Monastir, Tunisia, in Proceedings-Copyright IPCO, pp. 116-122 (2014)

• Gritli, H., Khraeif, N., & Belghith, S.: Further Analysis of the Period-Three Route to Chaos in Passive DynamicWalking of a Compass-Gait Biped Robot. International Conference on Automation, Control, Engineering and Computer Science (ACECS'14), Monastir, Tunisia, in Proceedings-Copyright IPCO, pp. 123-130 (2014)

 -       2012

• Gritli, H., Khraeif, N., & Belghith, S.: Control of Chaos in Passive Dynamic Walking of a Compass-Gait Biped Robot. The 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2012). Rome, Italy (2012).

 -       2011

• Gritli, H., Khraeif, N., & Belghith, S.: Cyclic-fold bifurcation in passive bipedal walking of a compass-gait biped robot with leg length discrepancy. The IEEE International Conference on Mechatronics (IEEE ICM 2011). Istanbul, Turkey, pp. 851-856 (2011)

• Gritli, H., Khraeif, N., & Belghith, S.: Semi-passive control of a torso-driven compass-gait biped robot: Bifurcation and chaos. The IEEE International Multi-Conference on Systems, Signals and Devices (IEEE SSD 2011). Sousse, Tunisia, pp. 01-06 (2011)

• Gritli, H., Khraeif, N., & Belghith, S.: Falling of a Passive Compass-Gait Biped Robot Caused by a Boundary Crisis. The 4th Chaotic Modeling and Simulation International Conference (CHAOS2011). Crete, Greece, pp. 155-162 (2011)

• Gritli, H., Khraeif, N., & Belghith, S.: A Period-Three Passive Gait Tracking Control for Bipedal Walking of a Compass-Gait Biped Robot. The IEEE International Conference on Communications, Computing and Control Applications (CCCA’11). Hammamet, Tunisia, pp. 01-06 (2011)

 -       2010

• Gritli, H., Khraeif, N., & Belghith, S.: Cyclic Fold Bifurcation Route to Chaos in Passive Bipedal Walking. The 7th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2010). Madeira, Portugal (2010)

•  Gritli, H., Khraeif, N., & Belghith, S.: Finding Limit Cycles for the Compass-Like Biped Robot Gait Basing on Grazing Bifurcation Concept. The 2nd International Conference on Computer and Automation Engineering, Singapore (2010)