Mohd Ashraf Ahmad

(ASSOCIATE PROFESSOR)

Faculty of Electrical and Electronics Engineering Technology,

Universiti Malaysia Pahang Al-Sultan Abdullah,

26600, Pekan,

Pahang, Malaysia

Phone: +609-431-5869

Email: mashraf@umpsa.edu.my

EDUCATION:

March 2015

Doctor of Informatics (Systems Science), Kyoto University

October 2007

Master of Engineering (Mechatronics & Automatic Control), University of Technology Malaysia

June 2006

Bachelor of Electrical-Mechatronics Engineering, University of Technology Malaysia

WORKING EXPERIENCE:

July 2020 - present

Associate Professor of Universiti Malaysia Pahang Al-Sultan Abdullah

April 2015 - June 2020

Senior Lecturer of Universiti Malaysia Pahang Al-Sultan Abdullah

May 2008 - March 2015

Lecturer of Universiti Malaysia Pahang Al-Sultan Abdullah

PROFESSIONAL MEMBERSHIP:

Institution of Engineers, Malaysia (Grad. IEM) - G151312A

Malaysian Board of Technologists (Graduate Technologist) - GT20120031
Malaysian Board of Technologists (Professional Technologist) - PT21070264

Asia Control Associations (ACA) - ACA120092

TEACHING COURSES:

Instrumentation and Measurements (BEE1113/BHE1313/BTE1443)

Signals and System (BEE2113/BEL3213)
Electromagnetic Fields Theory I (BEL2123)

Electromagnetic Fields Theory II (BEL2133)

Electromagnetic Fields Theory (BEE3113)

Integrated Engineering Design (BEE3333)
Principle of Control Systems (BEE3313)

Control Systems (BTE3323)

Research Methodology (MEE5012)

AREAS OF INTEREST:

Model-free control

Data-based control

Vibration control

Control of mechatronics systems

Identification of nonlinear systems

PUBLICATIONS:

Books / Chapters in Book / Book series:

M.R. Ghazali, M.J.A. Jaafar, M.A. Ahmad, W.I. Ibrahim, S.A. Ghani, "Data-Driven Adaptive Fuzzy-PID Control of TITO Coupled Tank System with Input Delay: Design, Implementation, and Performance Evaluation", Lecture Notes in Electrical and Engineering, 2024, pp. 173–185, ISBN 978-981-97-3849-6. [Link]
M.R. Hao, M.A. Ahmad, "Performance Evaluation of Smoothed Functional Algorithm Based Methods for Sigmoid-PID Control Optimization in MIMO Twin-Rotor Systems", Lecture Notes in Electrical and Engineering, 2024, pp. 411–431, ISBN 978-981-97-3849-6. [Link]
M.A. Ahmad, M.I. Mohd Rashid, M.S. Islam, L.K. Fong, "Archimedes Optimization Algorithm for PID Controller Design of Buck Converter", Lecture Notes in Mechanical Engineering, 2024, pp. 885–899, ISBN 978-981-97-0169-8. [Link]
M.A. Ahmad, D. Pebrianti, M.F. Abas, N.M. Abdul Ghani, M.R. Ghazali, "Applications of Optimisation in Control Engineering", Penerbit Universiti Malaysia Pahang, 2022, ISBN 978-967-2831-70-9. [Link]
A.A. Roslan, A.N.K. Nasir, M.F. Mat Jusof, A.A. Abd. Razak, M.A. Ahmad, "Sine-Based Barnacle Mating Optimization for PD Control of an Inverted Pendulum System", Lecture Notes in Electrical Engineering, 2022, pp. 429-439, ISBN 978-981-16-8690-0. [Link]
J.J. Jui, M.A. Ahmad, M. I. Mohd Rashid, "Levy Tunicate Swarm Algorithm for Solving Numerical and Real-World Optimization Problems", Lecture Notes in Electrical Engineering, 2022, pp. 417-427, ISBN 978-981-16-8690-0. [Link]
J.J. Jui, M.A. Ahmad, M. I. Mohd Rashid, "Levy Slime Mould Algorithm for Solving Numerical and Engineering Optimization Problems", Lecture Notes in Electrical Engineering, 2022, pp. 381-394, ISBN 978-981-16-8690-0. [Link]
M.R. Hao, M.A. Ahmad, "Power Production Optimization of Model-Free Wind Farm Using Smoothed Functional Algorithm", Lecture Notes in Electrical Engineering, 2022, pp. 679-689, ISBN 978-981-16-8690-0. [Link]
M.F. Mat Jusof, A.N.K. Nasir, A.A. Abdul Razak, N.A. Mhd Rizal, M.A. Ahmad, I.H. Muhamad, "Adaptive-Somersault MRFO for Global Optimization with an Application to Optimize PD Control", Lecture Notes in Electrical Engineering, 2022, pp. 1027-1039, ISBN 978-981-16-2405-6. [Link]
A.A. Abdul Razak, A.N.K. Nasir, N.A. Mhd Rizal, N.M. Abd Ghani, M.F. Mat Jusof, M.A. Ahmad, "Quasi Oppositional-Manta Ray Foraging Optimization and Its Application to PID Control of a Pendulum System", Lecture Notes in Electrical Engineering, 2022, pp. 923-935, ISBN 978-981-16-2405-6. [Link]
M.F. Mat Jusof, S. Mohammad, A.A. Abd Razak, N.A. Mhd Rizal, A.N.K. Nasir, M.A. Ahmad, "Hybrid Manta Ray Foraging—Particle Swarm Algorithm for PD Control Optimization of an Inverted Pendulum", Lecture Notes in Electrical Engineering, 2022, pp. 1-13. ISBN 978-981-33-4597-3. [Link]
M.Z. Mohd Tumari, M.A. Ahmad, M.H. Suid, "An Improved Grey Wolf Optimizer with Hyperbolic Tangent Updating Mechanism for Solving Optimization Problems", Lecture Notes in Electrical Engineering, 2022, pp. 451-462. ISBN 978-981-33-4597-3. [Link]
J.J. Jui, M.H. Suid, Z. Musa, M.A. Ahmad, "Identification of Liquid Slosh Behavior Using Continuous-Time Hammerstein Model Based Sine Cosine Algorithm", Lecture Notes in Electrical Engineering, 2021, pp. 345-356.ISBN 978-981-15-5280-9. [Link]

M.I. Mohd Rashid, A.A.S. Mohd Apandi, H. Daniyal, M.A. Ahmad, "Hyperheuristics trajectory based optimization for energy management strategy (EMS) of split plug-in hybrid electric vehicle", Lecture Notes in Electrical Engineering, 2020, pp. 837-848. ISBN 978-981-15-2316-8. [Link]

A.Z. Mohd Zain, M.A. Ahmad, "A salp swarm algorithm to improve power production of wind plant", Lecture Notes in Electrical Engineering, 2020, pp. 645-654. ISBN 978-981-15-2316-8. [Link]

S. Mohammad, M.F. Mat Jusof, N.A. Mhd Rizal, A.A. Abd Razak, A.N.K. Nasir, R.M.T. Raja Ismail, M.A. Ahmad, "Elimination-dispersal sine cosine algorithm for a dynamic modelling of a twin rotor system", Lecture Notes in Electrical Engineering, 2020, pp. 167-178. ISBN 978-981-15-2316-8. [Link]

M.Z. Mohd Tumari, A.F. Zainal Abidin, A.A. Yusof, M.S. Mohd Aras, N.M.Z.A. Mustapha, M.A. Ahmad, "Model-free PID controller based on grey wolf optimizer for hovering autonomous underwater vehicle depth control", Lecture Notes in Electrical Engineering, 2020, pp. 25-35. ISBN 978-981-15-2316-8. [Link]

M.I. Mohd Rashid, H. Daniyal, M.A. Ahmad, "Energy management strategy (EMS) for hybrid electric vehicles based on safe experimentation dynamics (SED)" Lecture Notes in Computer Science, 2019, pp. 370-377. ISBN 978-3-030-26353-9. [Link]

M.R. Ghazali, M.A. Ahmad, R.M.T. Raja Ismail, "Data-driven neuroendocrine-PID tuning based on safe experimentation dynamics for control of TITO coupled tank system with stochastic input delay", Communications in Computer and Information Science, 2019, pp. 1-12. ISBN 978-981-13-7779-2. [Link]

N.M.Z.A. Mustapha, M.Z. Mohd Tumari, M.H. Suid, R.M.T. Raja Ismail, M.A. Ahmad, "Data-driven PID tuning for liquid slosh-free motion using memory-based SPSA algorithm", Lecture Notes in Electrical Engineering, 2019, pp. 197-210. ISBN 978-981-13-3708-6. [Link]

M.Z. Mohd Tumari, A.F. Zainal Abidin, M.S. Mohd Aras, A.M. Abd Kadir, M.S.F. Hussin, M.A. Ahmad, "PSO fine-tuned model-free PID controller with derivative filter for depth control of hovering autonomous underwater vehicle", Lecture Notes in Electrical Engineering, 2019, pp. 3-13. ISBN 978-981-13-3708-6. [Link]

M.F. Mat Jusof, A.A. Abd Razak, S. Mohammad, A.N.K. Nasir, M.H. Suid, M.A. Ahmad, Z. Ibrahim, "Simulated Kalman filter algorithm with improved accuracy", Lecture Notes in Electrical Engineering, 2019, pp. 343-351. ISBN 978-981-13-3708-6. [Link]

M.R. Hao, M.A. Ahmad, R.M.T. Raja Ismail, A.N.K. Nasir, "Performance evaluation of random search based methods on model-free wind farm control", Lecture Notes in Mechanical Engineering, 2018, pp. 657-670. ISBN 978-981-10-8787-5. [Link]

N.S. Abdul Shukor, M.A. Ahmad, "Data-driven PID controller tuning based on safe experimentation dynamics for control of double-pendulum-type overhead crane", Lecture Notes in Mechanical Engineering, 2018, pp. 295-304. ISBN 978-981-10-8787-5. [Link]

N. Sulaiman, M.S. Jadin, A. Abdul Hadi, M.S. Najib, M.A. Ahmad, N.S.A. Yusuf, "Evaluation of mobile phone wireless charging system using solar and inductive coupling", Advances in Information and Communication Technology, 2016, pp. 238-247. ISBN 978-3-319-49073-1. [Link]

M.A. Ahmad, M.S. Ramli, R.M.T. Raja Ismail, R.E.Samin "Trajectory control and sway suppression of a rotary crane system", Chapter in Machine Vision and Mechatronics in Practice, Springer Berlin Heidelberg, 2015, pp. 165-175. ISBN 978-3-662-45514-2. [Link]

Journal papers:

2025

I. Ahmed, M.H. Suid, M.A. Ahmad, S. Ahmad, M.F. Mat Jusof, M.Z. Mohd Tumari, "Optimization of a robust sigmoid PID controller for automatic voltage regulation using the nonlinear sine-cosine algorithm with amplifier feedback dynamic weighted (AFDW) system", International Journal of Robotics and Control Systems, 2025, Accepted.
X. Dong, M.S. Shaikh, C. Wang, S. Xie, G. Zheng, S. Qiu, M.A. Ahmad, S. Raj, "Coverage and Connectivity Maximization for Wireless Sensor Networks Using Improved Chaotic Grey Wolf Optimization", Scientific Reports, Vol. 15, 2025, pp. 1-38. [Link] (WoS IF:3.9)
N.M.Z.A. Mustapha, M.A. Ahmad, "Normalized SPSA for Hammerstein Model Identification of Twin Rotor and Electro-Mechanical Positioning Systems", International Journal of Cognitive Computing in Engineering, Vol. 6, 2025, pp. 552-568. [Link]
J.J. Jui, M.M. Imran Molla, M.A. Ahmad, I.T. Hettiarachchi, "Recent Advances and Applications of the Multi-Verse Optimiser Algorithm: A Survey from 2020 to 2024", Archives of Computational Methods in Engineering, 2025, In Press. (WoS IF:12.1) [Link]
M.A. Ahmad, G. Yoganathan, M.I. Mohd Rashid, M.R. Hao, M.H. Suid, and M.Z. Mohd Tumari, "Improved Smoothed Functional Algorithms-optimized PID Controller for Efficient Speed Regulation of Wind Turbines", IEEE Transactions on Industry Applications, Vol. 61(5), 2025, pp. 7546 - 7560. (WoS IF:4.5) [Link]
H. Manap, M.A. Ahmad, K.H. Ghazali, M.A.S. Aspar, F. Usman, "Rapid Ammonia Leak Detection and Alarm System Using Optical Sensing Technology", Sensors and Actuators A: Physical, Vol. 387, 2025, pp. 116460. (WoS IF:4.9) [Link]
N.M. Nasir, N. Abd Ghani, A.N.K. Nasir, M.A. Ahmad, M.O. Tokhi, "Neuro-Modelling and Fuzzy Logic Control of a Two-Wheeled Wheelchair System", Journal of Low Frequency Noise, Vibration and Active Control, Vol. 44(1), 2025, pp. 588-602. (WoS IF:2.4) [Link]
S. Saat, M.A. Ahmad, M.R. Ghazali, "Data-Driven Brain Emotional Learning-Based Intelligent Controller-PID Control of MIMO Systems Based on a Modified Safe Experimentation Dynamics Algorithm", International Journal of Cognitive Computing in Engineering, Vol. 6, 2025, pp. 74-99. [Link]
M.Z. Mohd Tumari, M.A. Ahmad, Z. Mohamed, "Identification of the Continuous-time Hammerstein Models with Sparse Measurement Data Using Improved Marine Predators Algorithm", Arabian Journal for Science and Engineering, Vol. 50, 2025, pp. 10567–10592. (WoS IF:2.9) [Link]

2024

M.S. Islam, M.A. Ahmad, "Data-Driven Continuous-Time Hammerstein Modeling with Missing Data Using Improved Archimedes Optimization Algorithm", Results in Engineering, Vol. 24, 2024, pp. 1-22. (WoS IF:7.9) [Link]
M.Z. Mohd Tumari, M.A. Ahmad, M.R. Ghazali, M.H. Suid, "Optimizing PID controller parameters for robust automatic voltage regulator system through indirect design approach-2", Global Energy Interconnection, Vol. 7(5), 2024, pp. 682-696. (WoS IF:2.6) [Link]
M.S. Islam, M.A. Ahmad, C.B. Wen, "Identification of Continuous-Time Hammerstein Model Using Improved Archimedes Optimization Algorithm", International Journal of Cognitive Computing in Engineering, Vol. 5, 2024, pp. 475-493. [Link]
S. Ekinci, D. Izci, C. Turkeri, M.A. Ahmad, "Spider Wasp Optimizer-Optimized Cascaded Fractional-Order Controller for Load Frequency Control in a Photovoltaic-Integrated Two-Area System", Mathematics, Vol. 12(19), 2024, pp. 1-25. (WoS IF:2.2) [Link]
D. Ponnalagu, M.A. Ahmad, J.J. Jui, "Parameter Identification of Thermoelectric Modules using Enhanced Slime Mould Algorithm (ESMA)", Results in Engineering, Vol. 23, 2024, pp. 1-10. (WoS IF:7.9) [Link]
M.H. Suid, M.A. Ahmad, A.N.K. Nasir, M.R. Ghazali, J.J. Jui, "Continuous-Time Hammerstein Model Identification Utilizing Hybridization of Augmented Sine Cosine Algorithm and Game-Theoretic Approach", Results in Engineering, Vol. 23, 2024, pp. 1-23. (WoS IF:7.9) [Link]
R.H. Mok, M.A. Ahmad, "Smoothed Functional Algorithm with Norm-Limited Update Vector for Identification of Continuous-time Fractional order Hammerstein Models", IETE Journal of Research, Vol. 70(2), 2024, pp. 1814–1832. (WoS IF:1.3) [Link]
L. Devarajah, M.A. Ahmad, J.J. Jui, "Identifying and estimating solar cell parameters using an enhanced slime mould algorithm", Optik, Vol. 331, 2024, pp. 1-22. [Link]
J.J. Jui, M.A. Ahmad, M.M. Imran Molla, M.I. Mohd Rashid, "Optimal Energy Management Strategies for Hybrid Electric Vehicles: A Recent Survey of Machine Learning Approaches", Journal of Engineering Research, Vol. 12(3), 2024, pp. 454-467. (WoS IF:2.2) [Link]
N.F. Nanyan, M.A. Ahmad, B. Hekimoğlu, "Optimal PID Controller for the DC-DC Buck Converter using the Improved Sine Cosine Algorithm", Results in Control and Optimization, Vol. 14, 2024, pp. 1-19. (WoS IF:3.2) [Link]

2023

H. Krishnan, M.S. Islam, M.A. Ahmad, M.I. Mohd Rashid, "Parameter Identification of Solar Cells Using Improved Archimedes Optimization Algorithm", Optik, Vol. 295, 2023, pp. 1-27. [Link]
M.Z. Mohd Tumari, M.A. Ahmad, M.I. Mohd Rashid, "A fractional order PID tuning tool for automatic voltage regulator using marine predators algorithm", Energy Reports, Vol. 9(12), 2023, pp. 416-421. (WoS IF:5.1) [Link]
K. Suresh. M.R. Ghazali, M.A. Ahmad, "Safe experimentation dynamics algorithm for identification of cupping suction based on the nonlinear Hammerstein Model", Journal of Robotics and Control, Vol. 4(6), 2023, pp. 754-761. [Link]
L.K. Fong, M.S. Islam, M.A. Ahmad, "Optimized PID Controller of DC-DC Buck Converter based on Archimedes Optimization Algorithm", International Journal of Robotics and Control Systems, Vol. 3(4), 2023, pp. 658-672. [Link]
M.Z. Mohd Tumari, M.A. Ahmad, M.H. Suid, M.R. Hao, "An improved marine predators algorithm-tuned fractional-order PID controller for automatic voltage regulator system", Fractal and Fractional, Vol. 7(7), 2023, 561. (WoS IF:3.3) [Link] [Matlab Code]
M.Z. Mohd Tumari, M.A. Ahmad, M.H. Suid, M.R. Ghazali, M.O. Tokhi, "An improved marine predators algorithm tuned data-driven multiple-node hormone regulation neuroendocrine-PID controller for multi-input–multi-output gantry crane system", Journal of Low Frequency Noise, Vibration and Active Control, Vol. 42(4), 2023, pp. 1543-1936. (WoS IF:2.4) [Link]
M.Z. Mohd Tumari, M.A. Ahmad, M.H. Suid, M.R. Ghazali, S. Saat, "Data-Driven Tuning Tool for Fractional Order PID Controller based on Marine Predators Algorithm for Liquid Slosh Suppression", Traitement du Signal, Vol. 40(3), 2023, pp. 885-894. (WoS IF:1.0) [Link]
M.Q. Goh, M.R. Ghazali, M.A. Ahmad, and M.S. Mohd Shukri, "Data driven sigmoid proportional-integral-derivative (SPID) controller for twin rotor MIMO system", Journal Européen des Systèmes Automatisés, Vol. 56(1), 2023, pp. 105-113. [Link]
M.H. Suid, M.A. Ahmad, "A novel hybrid of nonlinear sine cosine algorithm and safe experimentation dynamics for model order reduction", Automatika: Journal for Control, Measurement, Electronics, Computing and Communications, Vo. 64(1), 2023, pp. 34-50. (WoS IF:1.7) [Link]

2022

R.H. Mok, M.A. Ahmad, "Fast and optimal tuning of fractional order PID controller for AVR system based on memorizable-smoothed functional algorithm", Engineering Science and Technology, an International Journal, Vol. 35, 2022, pp. 101264. (WoS IF:5.4) [Link] [Matlab Code]
M.R. Ghazali, M.A. Ahmad, R.M.T. Raja Ismail, "A multiple-node hormone regulation of neuroendocrine-PID (MnHR-NEPID) control for nonlinear MIMO Systems", IETE Journal of Research, Vol. 68(6), 2022, pp. 4476-4491. (WoS IF:1.3) [Link] [Matlab Code]
R.H. Mok, M.A. Ahmad, "Model-free wind farm power production optimization using multi-resolution optimized relative step size random search", IETE Journal of Research, Vol. 68(5), 2022, pp. 3158-3172. (WoS IF:1.3) [Link]
M.R. Ghazali, M.A. Ahmad, R.M.T. Raja Ismail, "Adaptive safe experimentation dynamics for data-driven neuroendocrine-PID control of MIMO systems", IETE Journal of Research, Vol. 68(3), 2022, pp. 1611-1624. (WoS IF:1.3) [Link] [Matlab Code]
N. Mat Adam, A.I. Hashim, M.A. Ahmad, "Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle," Bulletin of Electrical Engineering and Informatics, Vol. 11(4), 2022, pp. 1882-1891. [Link]
J.J. Jui, M.A. Ahmad, M.I. Mohd Rashid, "Metaheuristics algorithms to identify nonlinear Hammerstein model: a decade survey", Bulletin of Electrical Engineering and Informatics, Vol. 11(1), 2022, pp. 454-465. [Link]
M.H. Suid, M.A. Ahmad, "Optimal tuning of sigmoid PID controller using nonlinear sine cosine algorithm for the automatic voltage regulator system", ISA Transactions, 2022, Vol. 128, Part B, 2022, pp. 265-286. (WoS IF:6.5) [Link] [Matlab Code]
A.N.K. Nasir, M.A. Ahmad, M.O. Tokhi, "Hybrid spiral-bacterial foraging algorithm for a fuzzy control design of a flexible manipulator", Journal of Low Frequency Noise, Vibration and Active Control, Vol. 41(1), 2022, pp. 340-358. (WoS IF:2.4) [Link]

2021

M.I.F. Mohd Hanif, M.A. Ahmad, J.J. Jui, "PID tuning method using chaotic safe experimentation dynamics algorithm for elastic joint manipulator", Journal Européen des Systèmes Automatisés, Vol. 54(5), 2021, pp. 693-698. [Link]
J.J. Jui, M.A. Ahmad, M.S. Mohamed Ali, M.A. Zawawi, M.F. Mat Jusof, "Identification of the thermoelectric cooler using hybrid multi-verse optimizer and sine cosine algorithm based continuous-time Hammerstein model", Cybernetics and Information Technologies, Vol. 21(3), 2021, pp. 160-174. (WoS IF:1.1) [Link]
J.J. Jui, M.A. Ahmad, "A hybrid metaheuristic algorithm for identification of continuous-time Hammerstein systems", Applied Mathematical Modelling, Vol. 95, 2021, pp. 339-360. (WoS IF:5.1) [Link] [Matlab Code]

H.I. Jaafar, Z. Mohamed, M.A. Ahmad, N. Abd Wahab, L. Ramli, M.H. Shaheed, "Control of an underactuated double-pendulum overhead crane using improved model reference command shaping: design, simulation and experiment", Mechanical Systems and Signal Processing, Vol. 151, 2021, pp. 1-18. (WoS IF:8.9) [Link]

N.H. Abdul Razak Ramesh, M.R. Ghazali, M.A. Ahmad, "Sigmoid PID based adaptive safe experimentation dynamics algorithm of portable duodopa pump for Parkinson’s disease patients", Bulletin of Electrical Engineering and Informatics, Vol. 10(2), 2021, pp. 632-639. [Link]

M.Z. Mohd Tumari, M.M. Zahar, M.A. Ahmad, "Optimal tuning of a wind plant energy production based on improved grey wolf optimizer", Bulletin of Electrical Engineering and Informatics, Vol. 10(1), 2021, pp. 23-30. [Link]

M.A. Ahmad, H. Ishak, A.N.K. Nasir, N.M. Abd Ghani, "Data-based PID control of flexible joint robot using adaptive safe experimentation dynamics algorithm", Bulletin of Electrical Engineering and Informatics, Vol. 10(1), 2021, pp. 79-85. [Link]

2020

M.H. Mohamad Nor, Z.H. Ismail, M.A. Ahmad, "Broadcast control of multi-robot systems with norm-limited update vector", International Journal of Advanced Robotic Systems, Vol. 17(4), 2020, pp. 1-12. (WoS IF:2.1) [Link]

M.N. Hasan, H. Abdul Rahim, M.A. Ahmad, M.S. Mohamed Ali, "Modelling and simulation of magnesium antimonide based thermoelectric generator", Indonesian Journal of Electrical Engineering and Computer Science, Vol. 19(2), 2020, pp. 686-692. [Link]

A.S. Ramli, M.I. Mohd Rashid, M.A. Ahmad, "Energy management strategy of HEV based on simulated annealing", International Journal of Integrated Engineering, Vol. 12(2), 2020, pp. 30-37. (WoS IF:0.5) [Link]

M.A. Ahmad, Z. Musa, M.H. Suid, M.Z. Mohd Tumari, "Grey wolf optimizer for identification of liquid slosh behavior using continuous-time Hammerstein model", Bulletin of Electrical Engineering and Informatics, Vol. 9(2), 2020, pp. 342-349. [Link]

M.Z. Mohd Tumari, M.H. Suid, M.A. Ahmad, "A modified grey wolf optimizer for improving wind plant energy production", Indonesian Journal of Electrical Engineering and Computer Science, Vol. 18(3), 2020, pp. 1123-1129. [Link]

M.Z. Mohd Tumari, A.F. Zainal Abidin, A.S.R.A. Subki, A.W. Abd. Aziz, M.S. Saealal, M.A. Ahmad, "Liquid slosh control by implementing model-free PID controller with derivative filter based on PSO", Indonesian Journal of Electrical Engineering and Computer Science, Vol. 18(2), 2020, pp. 750-758. [Link]

M.R. Ghazali, M.A. Ahmad, R.M.T. Raja Ismail, M.O. Tokhi, "An improved neuroendocrine–proportional–integral–derivative controller with sigmoid-based secretion rate for nonlinear multi-input–multi-output crane systems", Journal of Low Frequency Noise, Vibration and Active Control, Vol. 39(4), 2020, pp. 1172-1186. (WoS IF:2.4) [Link] [Matlab Code]

2019

M.Z. Mohd Tumari, A.F. Zainal Abidin, A.S.R.A. Subki, A.W. Abd. Aziz, M.A. Ahmad, M.R. Ghazali, "PSO fine-tuned model-free PID controller with derivative filter for buck converter driven DC motor", International Journal of Recent Technology and Engineering, Vol. 8(3s), 2019, pp. 1-5. [Link]

N.M.Z.A. Mustapha, M.H. Suid, R.M.T. Raja Ismail, A.N.K. Nasir, M.A. Ahmad, M.Z. Mohd Tumari, J.J. Jui, "A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation", Journal of Advanced Manufacturing Technology, Vol. 13(2), 2019, pp. 143-154. [Link]

M.Z. Mohd Tumari, A.S.R.A. Subki, M.S. Aras, M.A. Kasno, M.A. Ahmad, M.H. Suid, "H-infinity controller with graphical LMI region profile for liquid slosh suppression," Telkomnika, Vol. 17(5), 2019, pp. 2636-2642. [Link]

M.H. Suid, M.Z. Mohd Tumari, M.A. Ahmad, "A modified sine cosine algorithm for improving wind plant energy production", Indonesian Journal of Electrical Engineering and Computer Science, Vol. 16(1), 2019, pp. 101-106. [Link] [Matlab Code]

M.I.F. Mohd Hanif, M.H. Suid, M.A. Ahmad, "A piecewise affine PI controller for buck converter generated DC motor", International Journal of Power Electronics and Drive Systems, Vol. 10(3), 2019, pp. 1419-1426. [Link]

M.Z. Mohd Tumari, S. Saat, M.A. Kasno, M.S. Johal, M.F. Bahari, M.A. Ahmad, "Single input fuzzy logic controller for liquid slosh suppression", International Journal of Electrical Engineering and Applied Sciences, Vol. 2(1), 2019, pp. 45-52. [Link]

M.F.F. Kamerul Bieza, N.S. Abdul Shukor, M.A. Ahmad, M.H. Suid, M.R. Ghazali, M.F. Mat Jusof, "A simplify fuzzy logic controller based safe experimentation dynamics for pantograph-catenary system", Indonesian Journal of Electrical Engineering and Computer Science, Vol. 14(2), 2019, pp. 903-911. [Link]

M.A. Md Idris, M.R. Hao, M.A. Ahmad, "A data driven approach to wind plant control using Moth-Flame Optimization (MFO) algorithm", International Journal on Advanced Science, Engineering and Information Technology, Vol. 9(1), 2019, pp. 18-23. [Link]

2018

M.Z. Mohd Tumari, W.N. Abd Rashid, N.A. Abd. Hadi, M.A. Ahmad, M.H. Suid, M.R. Ghazali, "Liquid slosh suppression by using hybrid model-free Fuzzy-PID controller with derivative filter", Journal of Advanced Research in Dynamical and Control Systems, Vol. 10-Special Issue, 2018, pp. 1423-1433. [Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.H. Suid, M.F. Mat Jusof, Z. Musa, N.M.Z.A. Mustapha, M.R. Ghazali, "A model-free approach to optimal chiller loading problem using global simultaneous perturbation stochastic approximation", Journal of Telecommunication, Electronic and Computer Engineering, Vol. 10 (1-3), 2018, pp. 45-50. [Link]

A.N.K. Nasir, A.A. Abdul Razak, R.M.T. Raja Ismail, M.A. Ahmad, "A hybrid spiral-genetic algorithm for global optimization", Journal of Telecommunication, Electronic and Computer Engineering, Vol. 10 (1-3), 2018, pp. 93-97. [Link]

M.H. Suid, M.F. Mat Jusof, M.A. Ahmad, "Dual sliding statistics switching median filter for the removal of low level random-valued impulse noise", Journal of Electrical Engineering and Technology, Vol. 13(3), 2018, pp. 1383-1391. (WoS IF:1.6) [Link]

2016

M.H. Mohamad Nor, Z.H. Ismail, M.A. Ahmad, "Broadcast control of multi-agent systems for assembling at unspecified point with collision avoidance", Journal of Telecommunication, Electronic and Computer Engineering, Vol. 8(11), 2016, pp. 75-79. [Link]

M.A. Ahmad, S. Azuma, T. Sugie, “Identification of continuous-time Hammerstein systems by simultaneous perturbation stochastic approximation”, Expert Systems with Applications, Vol. 43, 2016, pp. 51-58. (WoS IF:7.5) [Link]

2015

A.N.K. Nasir, R.M.T. Raja Ismail, M.A. Ahmad, M.O. Tokhi, “Exponential-based spiral dynamic algorithm for modelling of a flexible manipulator system”, ARPN Journal of Engineering and Applied Sciences, Vol. 10(23), 2015, pp. 17450-17456. [Link]

2014

M.A. Ahmad, S. Azuma, T. Sugie, “Performance analysis of model-free PID tuning of MIMO systems based on simultaneous perturbation stochastic approximation”, Expert Systems with Applications, Vol. 41(14), 2014, pp. 6361-6370. (WoS IF:7.5) [Link]

M.A. Ahmad, S. Azuma, T. Sugie, “A model-free approach for maximizing power production of wind farm using multi-resolution simultaneous perturbation stochastic approximation”, Energies, Vol. 7(9), 2014, pp. 5624-5646. (WoS IF:3.2) [Link]

M.A. Ahmad, S. Azuma, I. Baba, T. Sugie, “Switching controller design for hybrid electric vehicles”, SICE Journal of Control, Measurement, and System Integration, Vol. 7(5), 2014, pp. 273-282. [Link]

2013

M.A. Ahmad, M.Z. Mohd Tumari, A.N.K. Nasir, “Composite fuzzy logic control approach to a flexible joint manipulator”, International Journal of Advanced Robotic Systems, Vol. 10(58), 2013, pp. 1-9. (WoS IF:2.1) [Link]

2012

M.A. Ahmad, S. Azuma, T. Sugie, “Distributed function calculation in switching topology networks”, SICE Journal of Control, Measurement, and System Integration, Vol. 5(6), 2012, pp. 342-348. [Link]

2011

M.A. Ahmad, A.N.K. Nasir, N.S. Pakheri, N.M. Abd Ghani, M.A. Zawawi, N.H. Noordin, “Microcontroller-based input shaping for vibration control of flexible manipulator system”, Australian Journal of Basic Applied Sciences, vol. 5(6), 2011, pp. 597-610. [Link]

2010

M. Khairudin, Z. Mohamed, A.R. Husain, M.A. Ahmad, “Dynamic modelling and characterisation of a two-link flexible robot manipulator”, Journal of Low Frequency Noise, Vibration and Active Control, vol. 29(3), 2010, pp. 207-219. (WoS IF:2.4) [Link]

M.A. Ahmad, Z. Mohamed, “Modelling and Simulation of Vibration and Input Tracking Control of a Single-link Flexible Manipulator”, Pertanika - Journal of Science and Technology, vol. 18(1), 2010, pp. 61-76. (WoS IF:0.7) [Link]

M.A. Ahmad, A.N.K., Nasir, R.M.T. Raja Ismail, M.S. Ramli, “Control Schemes for Input Tracking and Anti-sway Control of a Gantry Crane”, Australian Journal of Basic Applied Sciences, vol. 4(8), 2010, pp. 2280-2291. [Link]

M.A. Ahmad, Z. Mohamed, “The Investigations of Command Shaping and Non-Collocated PID Schemes in Hybrid Trajectory and Sway Control of a DPTOC System”, Research Journal of Applied Sciences, vol. 5(5), 2010, pp. 320-327. [Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, “Control Strategy of Buck Converter Driven Dc Motor: a Comparative Assessment”, Australian Journal of Basic Applied Sciences, vol. 4(10), 2010, pp. 4893-4903.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, A.N.K. Nasir, N.M. Abd Ghani, N.H. Noordin, “Techniques for Sway Control of a double-pendulum-type overhead crane”, International Journal of Simulation Systems, Science & Technology, vol. 11(2), 2010, pp. 1-8. [Link]

R.M.T. Raja Ismail, M.A. Ahmad, M.S. Ramli, F.R.M. Rashidi, “Nonlinear dynamic modeling and analysis of a 3-D overhead gantry crane system with system parameters variation”, International Journal of Simulation Systems, Science & Technology, vol. 11(2), 2010, pp. 9-16. [Link]

2009

M.A. Ahmad, Z. Mohamed, “Hybrid Fuzzy Logic Control with Input Shaping for Input Tracking and Sway Suppression of a Gantry Crane System”, American Journal of Engineering and Applied Sciences, vol. 2(1), 2009, pp. 241-251.[Link]

M.S. Ramli, R.M.T. Raja Ismail, M.A. Ahmad, S. Mohamad Nawi and M.A. Mat Hussin, “Improved Coupled Tank Liquid Levels System Based on Swarm Adaptive Tuning of Hybrid Proportional-Integral Neural Network Controller”, American Journal of Engineering and Applied Sciences, vol. 2(4), 2009, pp. 669-675.[Link]

M.A. Ahmad, “Active vibration suppression techniques of a very flexible robot manipulator”, Int. J. Mechatronics and Manufacturing Systems, Vol. 2(3), 2009, pp. 311-330.[Link]

M.A. Ahmad, Z. Mohamed and Z.H. Ismail, “Hybrid Input Shaping and PID Control of a Flexible Robot Manipulator”, Journal Institute of Engineers Malaysia, Vol. 72(3), pp. 56-62, September, 2009.[Link]

M.A. Ahmad, “Sway reduction on Gantry Crane System using Delayed Feedback Signal and PD-type Fuzzy Logic Controller: A Comparative Assessment”, Int. Journal of Intelligent Systems and Technologies, vol. 4(3), pp. 143-148.[Link]

2008

M.A. Ahmad, Z. Mohamed, “Vibration Suppression Techniques in Feedback Control Loop of a Flexible Robot Manipulator", Modern Applied Science, Vol. 2 No. 2, March 2008, pp. 59-70.[Link]

M.A. Ahmad, Z. Mohamed, Z.H. Ismail, “Experimental Investigation of Feedforward Control Schemes of a Flexible Robot Manipulator System”, Jurnal Elektrika, FKE, UTM, vol. 10(2), 2008, pp. 28-35.[Link]

M.A. Ahmad, Z. Mohamed, “Dynamic Characterisation of a Two-link Flexible Robot Manipulator”, International Journal of Applied Engineering Research, vol. 3(12), 2008, pp. 1735-1752.[Link]

M.A. Ahmad, A.N.K. Nasir, Z. Mohamed, “Techniques for Vibration Suppression and End-Point Trajectory Tracking of Flexible Robot Manipulator”, Journal of Engineering and Applied Sciences, vol. 3 (12), 2008, pp. 918-924.[Link]

M.A. Ahmad, H. Wahid, Z. Mohamed, “Hybrid Control Schemes Using Input Shaping And Full–State Feedback For A Flexible Robot Manipulator”, Jurnal Teknologi, vol. 49(D), 2008, pp. 143-156. (WoS IF:0.6) [Link]

Conference papers:

2025

M.R. Ghazali, M.Q. Goh, M.A. Ahmad, M.H. Suid, "Data-Driven FOPID Control for Nonlinear Gantry Crane Systems Using Adaptive Safe Experimentation Dynamics", Proceedings of the IEEE International Conference on Industrial Technology & Computer Engineering (ICITCE2025), 2025, Accepted.
M.H.Q. Mardi, M.A. Ahmad, M.R. Ghazali, A. Nazari, M.M. Bello, Z. Mohamed, "Input shaping control of crane system with time varying hoisting rope length", Proceedings of the IEEE International Conference on Industrial Technology & Computer Engineering (ICITCE2025), 2025, Accepted.
I. Ahmed, M.H. Suid, M.A. Ahmad, S. Ahmad, M.F. Mat Jusof, M.Z. Mohd Tumari, "A Nonlinear Sine Cosine Algorithm Approach to Designing a One-Degree-of-Freedom Sigmoid PID Controller for Automatic Voltage Regulators" Proceedings of the IEEE 9th International Conference on Software Engineering & Computer Systems (ICSECS2025), 2025, Accepted.
M.F.M. Jusof, I.A.H.M. Zain, M.H. Suid, M.A. Ahmad, M.F. Ghazali, A.N.K. Nasir, "Accelerometer Based Wireless Sensor Network for Detection of Water Pipe Leaking", Proceedings of the Innovative Manufacturing, Mechatronics & Materials Forum 2025 (iM3F 2025), 2025, Accepted.
N.K. Kamel, M.A. Ahmad, K. Osman, N. Zainuddin, M.A.R. Azizi, "Enhanced Accuracy of Measurements in Automated Test Equipment for Electronic Component Verification", Proceedings of IEEE 8th International Conference on Electrical, Control and Computer Engineering (InECCE 2025), 2025, Accepted.
M.S. Islam, M.A. Ahmad, J.J. Jui, "Reinforcement Learning Enhanced Archimedes Optimization Algorithm for Robot Path Planning," Proceedings of IEEE 8th International Conference on Electrical, Control and Computer Engineering (InECCE 2025), 2025, Accepted.
M.R. Ghazali, M.A. Ahmad, S.R. Santhana Elwin, W.I. Ibrahim, R.H. Ramle, "IoT-Enabled Nitric Oxide Detection System for Cupping Therapy: Design and Experimental Validation," Proceedings of IEEE 8th International Conference on Electrical, Control and Computer Engineering (InECCE 2025), 2025, Accepted.

2024

M.I. Mohd Rashid, M.A. Ahmad, M.R. Hao, M.H. Suid, M.Z. Mohd Tumari, "Data-Driven PID Controller of Wind Turbine Systems Using Memory-based Smoothed Functional Algorithm," Proceedings of IEEE IAS Industrial and Commercial Power System Asia (IEEE I&CPS Asia 2024), 2024, pp. 17-21. [Link]
M.R. Ghazali, M.A. Ahmad, M.H. Sudi, G.M. Qian, "Optimization of Control Performance in Crane Control: A Data-Driven Approach using MnHR- NEPID based on SED Algorithm", Proceedings of IEEE 15th Control and System Graduate Research Colloquium (ICSGRC2024), 2024, pp. 58-63. [Link]
M.R. Ghazali, M.A. Ahmad, N.A.S. Yuseri, M.H. Suid, "Development and Control of a 5-DOF Robotic Arm Using Forward Kinematics and IoT Integration", Proceedings of the 2024 2nd International Conference on Robotics, Control and Vision Engineering (RCVE 2024), 2024, pp. 18-23. [Link]
M.S. Islam, M.A. Ahmad, M.R. Hao, M.H. Suid, M.Z. Mohd Tumari, "Fast PID Tuning of AVR System Using Memory-based Smoothed Functional Algorithm," Proceedings of IEEE Symposium on Industrial Electronics & Applications (ISIEA 2024), 2024, pp. 1-5. [Link]
M.S. Islam, M.A. Ahmad, M.R. Ghazali, M.H. Suid, M.Z. Mohd Tumari, "Data-Driven PID Controller of Wind Turbine Systems Using Safe Experimentation Dynamics Algorithm," Proceedings of IEEE Symposium on Industrial Electronics & Applications (ISIEA 2024), 2024, pp. 1-5. [Link]
M.I.F. Mohd Hanif, M.A. Ahmad, M.I. Mohd Rashid, M.H. Suid, M.Z. Mohd Tumari, "Using Non-Monopolize Search for Fast and Optimal PID tuning of AVR System," Proceedings of International Conference on System Science and Engineering 2024 (ICSSE 2024), 2024, pp. 1-5. [Link]
M.H. Suid, M.A. Ahmad, S. Ahmad, M.F. Mat Jusof, M.Z. Mohd Tumari, "AVR System Improvement: Fast and Optimal Tuning PID Control Using Safe Experimentation Dynamics Algorithm," Proceedings of International Conference on System Science and Engineering 2024 (ICSSE 2024), 2024, pp. 1-5. [Link]

2023

M.A. Ahmad, M.S. Islam, M.I. Mohd Rashid, "An Improved Archimedes Optimization Algorithm for Solving Optimization Problems," Proceedings of 8th IEEE International Conference on Recent Advances and Innovations in Engineering (ICRAIE2023), 2023, pp. 1-5. [Link]
M.A. Ahmad, M.Z. Mohd Tumari, M.R. Ghazali, M.H. Suid, J.J. Jui, "Robust PID tuning of AVR system based on Indirect Design Approach-2", Proceedings of International Conference on System Science and Engineering (ICSSE 2023), 2023, pp. 522-526. [Link]
M.H. Suid, M.A. Ahmad, S. Ahmad, M.R. Ghazali, M.Z. Mohd Tumari, "Optimal Model Order Reduction Based on Hybridization of Adaptive Safe Experimentation Dynamics-Nonlinear Sine Cosine Algorithm", Proceedings of International Conference on System Science and Engineering (ICSSE 2023), 2023, pp. 565-569. [Link]
S. Saat, M.A. Ahmad, M.Z. Mohd Tumari, M.R. Ghazali, N.M.Z.A. Mustapha, "An Implementation of Brain Emotional Learning Based Intelligent Controller for AVR System", Proceedings of IEEE International Conference on Automatic Control & Intelligent Systems (I2CACIS 2023), 2023, pp. 60-64. [Link]
M.Z. Mohd Tumari, M.A. Ahmad, M.R. Ghazali, N.M.Z.A. Mustapha, S. Saat, "Liquid Slosh Suppression by Implementing Data-Driven Fractional Order PID Controller based on Marine Predators Algorithm", Proceedings of IEEE International Conference on Automatic Control & Intelligent Systems (I2CACIS 2023), 2023, pp. 6-11. [Link]

2022

K. Suresh, M.R. Ghazali, M.A. Ahmad, "Modelling of Cupping Suction System Based On System Identification Method", Proceedings of IEEE Conference on Systems, Process & Control (ICSPC 2022), 2022, pp. 18-22. [Link]
M.A. Ahmad, M.Z. Mohd Tumari, M.R. Ghazali, M.H. Suid, "Implementation of safe experimentation spiral dynamics algorithm for self-tuning of PID controller in elastic joint manipulator", Proceedings of IEEE Conference on Systems, Process & Control (ICSPC 2022), 2022, pp. 56-61. [Link]
M.R. Ghazali, M.A. Ahmad, Y.T. Hui, N.A.N. Shamsudin, W.I. Ibrahim, K. Suresh, "Cupping Suction system with fuzzy logic controller design", Proceedings of IEEE Conference on Systems, Process & Control (ICSPC 2022), 2022, pp. 23-28. [Link]
M.Z. Mohd Tumari, M.A. Ahmad, M.H. Suid, M.R. Ghazali, "Model order reduction method based on improved sine cosine algorithm", Proceedings of IEEE Conference on Systems, Process & Control (ICSPC 2022), 2022, pp. 155-159. [Link]
M.Z. Mohd Tumari, M.A. Ahmad, M.H. Suid, M.R. Ghazali, "Data-Driven control based on marine predators algorithm for optimal tuning of the wind plant", Proceedings of IEEE International Conference on Power and Energy (PECON 2022), 2022, pp. 203-208. [Link]
M.A. Ahmad, J.J. Jui, M.R. Ghazali, "Using adaptive safe experimentation dynamics algorithm for maximizing wind farm power production", Proceedings of 57th International Universities Power Engineering Conference (UPEC 2022), 2022, pp. 1-4. [Link]
M.R. Ghazali, M.A. Ahmad, M.H. Suid, M.Z. Mohd Tumari, "A DC/DC buck-boost converter-inverter-DC motor control based on model-free PID controller tuning by adaptive safe experimentation dynamics algorithm", Proceedings of 57th International Universities Power Engineering Conference (UPEC 2022), 2022, pp. 1-6. [Link]

2021

J.J. Jui, M.A. Ahmad, M.I. Mohd Rashid, "Modified Multi-Verse Optimizer for Nonlinear System Identification of a Double Pendulum Overhead Crane", Proceedings of 19th IEEE Student Conference on Research and Development, 2021, pp. 212-217. [Link]
J.J. Jui, M.A. Ahmad, M.S. Mohamed Ali, M.A. Zawawi, M.F. Mat Jusof, "Thermoelectric cooler identification based on continuous-time Hammerstein model using metaheuristics algorithm", Proceedings of the International Conference on Software Engineering & Computer Systems and 4th International Conference on Computational Science and Information Management (ICSECS-ICOCSIM), 2021, pp. 556-561. [Link] [Video]
M.R. Ghazali, M.A. Ahmad, H. Ishak, "A Data-driven Sigmoid-based Secretion Rate of Neuroendocrine-PID Control for TRMS System", Proceedings of IEEE Symposium on Computer Applications and Industrial Electronics, 2021, pp. 1-6. [Link] [Video]

2020

J.J. Jui, M.A. Ahmad, M.I. Mohd Rashid, "Modified Multi-Verse Optimizer for solving numerical optimization problems", Proceedings of IEEE International Conference on Automatic Control and Intelligent Systems, 2020, pp. 81-86. [Link] [Video]

M.A. Ahmad, M.I. Mohd Rashid, M.H. Sulaiman, M.H. Suid, M.Z. Mohd Tumari, "Levy Flight Safe Experimentation Dynamics Algorithm for Data-Based PID Tuning of Flexible Joint Robot", Proceedings of IEEE Symposium on Computer Applications and Industrial Electronics, 2020, pp. 108-112. [Link] [Video]

J.J. Jui, M.H. Suid, M.R. Ghazali, M.A. Ahmad, M.Z. Mohd Tumari, "Modified sine cosine algorithm for identification of liquid slosh based on continuous-time Hammerstein model", Journal of Physics: Conference Series, Vol. 1529, 2020, pp. 1-11. [Link]

M.R. Ghazali, M.A. Ahmad, R.M.T. Raja Ismail, "Data-driven neuroendocrine-PID controller design for twin rotor MIMO system", Journal of Physics: Conference Series, Vol. 1529, 2020, pp. 1-12. [Link]

2019

N.A. Mhd Rizal, S. Mohammad, A.A. Abd Razak, M.F. Mat Jusof, A.N.K. Nasir, M.A. Ahmad, A.I. Hashim, "Hybrid Sine-Spiral Dynamic Algorithm for Dynamic Modelling of a Flexible Manipulator", Proceedings of International Conference on Control, Automation and Systems, 2019, pp. 120-125. [Link]

S. Mohammad, M.F. Mat Jusof, N.A. Mhd Rizal, A.A. Abd Razak, A.N.K. Nasir, R.M.T. Raja Ismail, M.A. Ahmad, "Sine based Bacterial Foraging Algorithm for a Dynamic Modelling of a Twin Rotor System", Proceedings of International Conference on Control, Automation and Systems, 2019, pp. 131-136. [Link]

M.I.F. Mohd Haniff, M.A. Ahmad, M.H. Suid, M.F. Mat Jusof, A.N.K. Nasir, M.Z. Mohd Tumari, "Using piecewise affine PID control scheme for double pendulum overhead crane", Proceedings of International Conference on Control, Automation and Systems, 2019, pp. 224-229. [Link]

E.F. Junis, J.J. Jui, M.H. Suid, M.A. Ahmad, "Identification of continuous-time Hammerstein system using Sine Cosine Algorithm", Proceedings of IEEE International Conference on Smart Instrumentation, Measurement and Application, 2019, pp. 1-6. [Link]

2018

M.H. Suid, M.A. Ahmad, R.M.T. Raja Ismail, M.R. Ghazali, A. Irawan, M.Z. Mohd Tumari, "An improved sine cosine algorithm for solving optimization problems", IEEE International Conference on Systems, Process and Control, 2018, pp. 209-213. [Link] [Matlab Code]

M.R. Ghazali, M.A. Ahmad, R.M.T. Raja Ismail, "Data-Driven PID control for DC/DC buck-boost converter-inverter-DC Motor based on safe experimentation dynamics", IEEE International Conference on Systems, Process and Control, 2018, pp. 89-93. [Link]

M.F. Mat Jusof, S. Mohammad, A.A. Abd Razak, A.N.K. Nasir, M.R. Ghazali, M.A. Ahmad, A. Irawan, "A Kalman filter-based sine-cosine algorithm", IEEE International Conference on Automatic Control and Intelligent Systems, 2018, pp. 137-141. [Link]

M.H. Suid, M.A. Ahmad, M.I.F. Mohd Hanif, M.Z. Mohd Tumari, M.S. Saealal, "Universal impulse noise suppression using extended efficient nonparametric switching median filter", MATEC Web of Conferences, Vol. 214, 2018, pp. 1 - 5. [Link]

M.A. Ahmad, N.M.Z.A. Mustapha, A.N.K. Nasir, M.Z. Mohd Tumari, R.M.T. Raja Ismail, Z. Ibrahim, "Using normalized simultaneous perturbation stochastic approximation for stable convergence in model-free control scheme", Proceedings of IEEE International Conference on Applied System Innovation, 2018, pp. 935-938.[Link]

A.A. Abdul Razak, A.N.K. Nasir, M.F. Mat Jusof, M.A. Ahmad, "A multiobjective simulated kalman filter optimization algorithm", Proceedings of IEEE International Conference on Applied System Innovation, 2018, pp. 23-26.[Link]

M.F. Mat Jusof, A.N.K. Nasir, M.A. Ahmad, Z. Ibrahim, "An exponential based simulated kalman filter algorithm for data-driven PID tuning in liquid slosh controller", Proceedings of IEEE International Conference on Applied System Innovation, 2018, pp. 984-987.[Link]

M.R. Ghazali, M.A. Ahmad, M.F. Mat Jusof, R.M.T. Raja Ismail, "A data-driven neuroendocrine-PID controller for underactuated system based on safe experimentation dynamics", Proceedings of 14th IEEE Colloquium on Signal Processing and Its Applications, 2018, pp. 61-66. [Link]

2017

A.N.K. Nasir, A.A. Abdul Razak, M.A. Ahmad, M.F. Mat Jusof, "A multi-objective spiral dynamic algorithm and its application for PD design", Proceedings of 8th IEEE Control and System Graduate Research Colloquium, 2017, pp. 1-6. [Link]

N.S. Abdul Syukor, M.A. Ahmad, M.Z. Mohd Tumari, "Data-driven PID tuning based on safe experimentation dynamics for control of liquid slosh", Proceedings of 8th IEEE Control and System Graduate Research Colloquium, 2017, pp. 62-66. [Link]

M.A. Ahmad, R.M.T. Raja Ismail, "A data-driven sigmoid-based PI controller for buck-converter powered dc motor", Proceedings of IEEE Symposium on Computer Applications and Industrial Electronics, 2017, pp. 81-86. [Link]

M.R. Hao, R.M.T. Raja Ismail, M.A. Ahmad, "Using spiral dynamic algorithm for maximizing power production of wind farm", Proceedings of IEEE International Conference on Applied System Innovation, 2017, pp. 1706-1709. [Link]

2016

M.H. Mohamad Nor, Z.H. Ismail, M.A. Ahmad, "Broadcast control of multi-agent systems with instability phenomenon", Proceedings of IEEE 6th International Conference on Underwater System Technology: Theory and Applications, 2016, pp. 7-12. [Link]

M.A. Ahmad, M. Ren Hao, R.M.T. Raja Ismail, A.N.K. Nasir, “Model-free wind farm control based on random search”, Proceedings of IEEE International Conference on Automatic Control and Intelligent Systems, 2016, pp. 131-134. [Link]

2015

M.A. Ahmad, M.A. Rohani, R.M.T. Raja Ismail, M.F. Mat Jusof, M.H. Suid, A.N.K. Nasir, “A model-free PID tuning to slosh control using simultaneous perturbation stochastic approximation”, Proceedings of 5th IEEE International Conference on Control Systems, Computing and Engineering, pp. 343-347, 2015.[Link]

2014

M.A. Ahmad, S. Azuma, T. Sugie, “A model-free approach to wind farm control using simultaneous perturbation stochastic approximation”, Proceedings of 21st International Symposium on Mathematical Theory of Network Systems, 2014, pp. 1352-1355.

M.A. Ahmad, S. Azuma, T. Sugie, “Identification of continuous-time Hammerstein models using simultaneous perturbation stochastic approximation”, Proceedings of 14th International Conference on Control, Automation and Systems, 2014, pp. 1107-1111.[Link]

2013

M.A. Ahmad, I. Baba, S. Azuma, T. Sugie, “Model free tuning of variable state of charge target of hybrid electric vehicles”, Proceedings of 7th IFAC Symposium on Advances in Automotive Control, 2013, pp. 789-793.[Link]

2012

A.N.K. Nasir, M.O. Tokhi, N.M. Abdul Ghani, M.A. Ahmad, “A novel hybrid spiral dynamics bacterial chemotaxis algorithm for global optimization with application to controller design”, Proceedings of UKACC International Conference on Control, 2012, pp. 753-758.[Link]

A.N.K. Nasir, M.O. Tokhi, N.M. Abdul Ghani, M.A. Ahmad, “A novel hybrid spiral-dynamics bacterial-foraging algorithm for global optimization with application to control design”, Proceedings of 12th UK Workshop on Computational Intelligence (UKCI), 2012, pp. 1-7.[Link]

R.E. Samin, N.A. Azmi, M.A. Ahmad, M.R. Ghazali, M.A. Zawawi, “Implementation of motor speed control using PID control in programmable logic controller”, AIP Conference Proceedings, Vol. 1499, pp. 164-168.[Link]

2011

R.M.T. Raja Ismail, M.A. Ahmad, M.S. Ramli, R. Ishak, M.A. Zawawi, “Dynamic modelling of a double-pendulum gantry crane system incorporating payload”, AIP Conference Proceedings, Vol. 1337, 2011, pp. 118-122.[Link]

M.A. Ahmad, M.S. Saealal, R.M.T. Raja Ismail, M.A. Zawawi, A.N.K. Nasir, M.S. Ramli, “Single input fuzzy controller with command shaping schemes for double-pendulum-type overhead crane”, AIP Conference Proceedings, Vol. 1337, 2011, pp. 113-117.[Link]

M.A. Ahmad, M.S. Saealal, M.A. Zawawi, R.M.T. Raja Ismail, “Classical angular tracking and intelligent anti-sway control for rotary crane system”, Proceedings of International Conference on Electrical, Control and Computer Engineering, 2011, pp. 82-87.[Link]

Y. Abdul Wahab, M.A. Ahmad, R. Abdul Rahim, M.H.F. Rahiman, “Application of transmission-mode ultrasonic tomography to identify multiphase flow regime”, Proceedings of International Conference on Electrical, Control and Computer Engineering, 2011, pp. 119-123.[Link]

M.A. Zawawi, W.M.S. Wan Zamani, M.A. Ahmad, M.S. Saealal, R.E. Samin, “Feedback control schemes for gantry crane system incorporating payload”, Proceedings of IEEE Symposium on Industrial Electronics and Applications, 2011, pp. 370-375.[Link]

M.Z. Mohd Tumari, M.A. Ahmad, M.S. Saealal, M.A. Zawawi, Z. Mohamed, N.M. Yusop, “The direct strain feedback with PID control approach for a flexible manipulator: Experimental results”, Proceedings of 11th International Conference on Control, Automation and Systems, 2011, pp. 7-12.[Link]

M.S. Saealal, N.M.A. Nik Abd Kadir, M.A. Zawawi, M.A. Ahmad, M.Z. Mohd Tumari, “Robustness evaluation of feedback control schemes for overhead crane”, Proceedings of 11th International Conference on Control, Automation and Systems, 2011, pp. 66-71.[Link]

A.N.K. Nasir, M.A. Ahmad, M.R. Ghazali, N.S. Pakheri, “Performance comparison between fuzzy logic controller (FLC) and PID controller for a highly nonlinear two-wheel balancing robot”, Proceedings of 1st International Conference on Informatics and Computational Intelligence, 2011, pp. 176-181.[Link]

2010

M.A. Ahmad, M.S. Ramli, R.M.T. Raja Ismail, A.N.K. Nasir, M.A. Zawawi, “Input shaping with collocated PD for vibration control of a flexible joint manipulator”, Proceedings of IEEE International Conference of Control and Automation (ICCA 2010), Christchurch, New Zealand, December 9-11, 2009, pp. 325-330.[Link]

A.N.K. Nasir, M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, “Design and implementation of a PID-PI controller for a nonlinear gantry crane system”, Proceedings of The 7th International Conference on Robotics, Vision, Signal Processing, & Power Applications, Langkawi, 19-20 December 2009.

R.M.T. Raja Ismail, M.A. Ahmad, A.N.K. Nasir, M.S. Ramli, “Speed Control of Dc-dc Buck Converter Fed Dc Motor Based on Smooth Trajectory Tracking”, Proceedings of The 7th International Conference on Robotics, Vision, Signal Processing, & Power Applications, Langkawi, 19-20 December 2009.

M.A. Ahmad, M.S. Ramli, R.M.T. Raja Ismail, “Infinite Impulse Response Filter Techniques for Sway Control of a lab-scaled rotary crane system”, Proceedings of 2nd International Conference on Compuer Modeling and Simulation (ICCMS 2010), Sanya, China, January 22-24, 2010, pp. 192-196.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, N. Hambali, N.H. Noordin, “Active Sway Control of a Lab-scale rotary crane system”, Proceedings of the 2nd International Conference on Computer and Automation Engineering (ICCAE 2010), Singapore, February 26-28, 2010, pp. 408-412.[Link]

M.A. Ahmad, R.E. Samin, M.A. Zawawi, “Comparison of Optimal and Intelligent Sway Control for a Lab-scale Rotary Crane System”, Proceedings of International Conference on Computer Engineering and Applications (ICCEA 2010), Bali, Indonesia, March 19-21, 2010, pp. 229-234.[Link]

M.A. Ahmad, M.S. Ramli, R.M.T. Raja Ismail, R.E. Samin, M.A. Zawawi, “Implementation of Input Shaping in hybrid control schemes of a lab-scaled rotary crane system”, Proceedings of International Conference on Industrial Technology (ICIT 2010), Chile, March 14-17, 2010, pp. 530-534.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, N. Hambali, “Investigations of NCTF with Input Shaping for sway control of a double-pendulum-type overhead crane”, Proceedings of the 2nd International Conference on Advanced Computer Control (ICACC 2010), Shenyang, China, March 27-29, 2010, pp. 456-461.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, N. Hambali. “Analysis of IIR Filter with NCTF-PI control for sway and trajectory motion of a DPTOC system”, Proceedings of the International Conference on Electronics Devices, Systems and Applications (ICEDSA 2010), K. Lumpur, April 9-11, 2010, pp. 54-58.[Link]

M.A. Ahmad, Z. Zulkifely, M.A. Zawawi, “Experimental Investigations of Input Shaping Schemes for Sway Control of a Gantry Crane System”, Proceedings of the 2nd International Conference on Computer and Network Technology (ICCNT 2010), Bangkok, Thailand, April 23-25, 2010, pp. 483-486.[Link]

M.A. Ahmad, F.R. Misran, M.S. Ramli, R.M.T. Raja Ismail, “Experimental Investigations of Low pass filter techniques for sway control of a gantry crane system”, Proceedings of the International Conference on Electronic Computer Technology (ICECT 2010), K. Lumpur, May 7-10, 2010, pp. 1-4.[Link]

M. A. Ahmad, M. H., Suid, M. S., Ramli, M. A., Zawawi, R. M. T. Raja, Ismail, “PD Fuzzy Logic with non-collocated PID approach for vibration control of flexible joint manipulator”, Proceedings of 6th International Colloquium on Signal Processing and Its Applications (CSPA), Melaka, 21-23 May 2010, pp. 1-5.[Link]

M.A. Ahmad, M.S. Ramli, A.N.K. Nasir, R.M.T. Raja Ismail, M.S. Saealal, “Performance Assessment of Active Vibration Control using Nominal Characteristic Trajectory Following (NCTF) controller”, Proceedings of the International Conference on Mathematical Analytical Modelling and Computer Simulation (AMS 2010), K. Kinabalu, May 26-28, 2010, pp. 414-419.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, M.A. Zawawi, “Elastic Joint Control using non-collocated fuzzy and filtering scheme: A comparative assessment”, Proceedings of the International Conference on Mathematical Analytical Modelling and Computer Simulation (AMS 2010), K. Kinabalu, May 26-28, 2010, pp. 366-371.[Link]

M.A. Ahmad, M.S. Ramli, M.A. Zawawi, R.M.T. Raja Ismail, “Hybrid collocated PD with non-collocated PID for sway control of a lab-scaled rotary crane”, Proceedings of 2010 the 5th IEEE Conference on Industrial Electronics and Applications (ICIEA), Taichung Taiwan, 15-17 June 2010, pp. 707-711.[Link]

M. A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, “Control strategy for active vibration suppression of flexible robot manipulator”, Proceedings of IEEE International Conference on Information and Automation (ICIA), Harbin, China, 20-23 June 2010, pp. 741-746.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, N. Hambali, “Performance evaluation of active vibration control schemes for flexible robot manipulator”, Proceedings of IEEE Conference on Robotics Automation and Mechatronics (RAM), 28-30 June 2010, Singapore, pp. 263-268.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, M.A. Zawawi, M.H. Suid, “Composite PD and Fuzzy Logic Approach for Vibration of Elastic Joint Manipulator”, Proceedings of International Conference on Control, Automation and Systems, Gyeonggi-do, South Korea, Oct. 27-30, 2010, pp. 2175-2180.[Link]

A.N.K. Nasir, M.A. Ahmad, R.M.T. Raja Ismail, “The control of a Highly Nonlinear Two-wheels Balancing Robot: A Comparative Assessment between LQR and PID-PID Control Schemes”, Proceedings of International Conference Control, Automation, Robotics and Vision, WASET(71), Paris, 27-29 June 2010, pp. 116-121.

A.N.K. Nasir, R.M.T. Raja Ismail, M.A. Ahmad, “Performance Comparison between Sliding Mode Control (SMC) and PD-PID Controllers for a Nonlinear Inverted Pendulum System”, Proceedings of International Conference Control, Automation, Robotics and Vision, WASET(71), Paris, 27-29 June 2010, pp. 122-127.

M.A. Ahmad, M.S. Saealal, Y. Abdul Wahab, “Robust Feed-forward Schemes for Pitch Angle Control of Unmanned Underwater Vehicle”, Proceedings of 3rd International Conference on Underwater System Technology: Theory and Applications 2010, Cyberjaya, 1-2 November, 2010, pp. 7-12.

N. Hambali, S. Saat, M.A. Ahmad, A.N.K. Nasir, M.A. Ishak, “Computer-based System for Temperature Measurement Calibration of Type-K Thermocouple”, Proceedings of International Conference on Modeling, Simulation and Control, Cairo, Egypt, 2-4 November, 2010, pp. 402-406.[Link]

N. Hambali, S. Saat, M.A. Ahmad, M.S. Ramli and M.A. Ishak, “Computer-based System for Calibration of Temperature Transmitter using RTD”, Proceedings of 3rd International Conference on Information Management, Innovation Management and Industrial Engineering, Kunming, China, 26-27 November 2010, pp. 332-336.[Link]

N.M. Abdul Ghani, D. Ju, H.Z. Othman, M.A. Ahmad, “Two wheels mobile robot using optimal regulator control”, Proceedings of International Intelligent Systems Design and Applications, 2010, pp. 1066-1070.[Link]

2009

M.A. Ahmad, A. N. K. Nasir, R. M. T. Raja Ismail, M. S. Ramli, “Comparison of Hybrid Control Schemes for Vibration Suppression of Flexible Robot Manipulator”, Proceedings of International Conference on Computer Modelling and Simulation (ICCMS 2009), Macau, 20-22 February 2009, pg. 356-360.[Link]

K. Osman, M.F. Rahmat, M.A. Ahmad, “Modelling and Controller Design for a Cruise Control System”, Proceedings of the 5th International Colloquium on Signal Processing and It’s Applications, K. Lumpur, 6-8 March 2009, pp. 254-258.[Link]

M.A. Ahmad, Z. Mohamed, “Techniques of Vibration and End-point Trajectory Control of Flexible Manipulator”, Proceedings of the 6th International Symposium on Mechatronics and Its Applications, 23-26 March 2009, pp. 1-6.[Link]

M.A. Ahmad, A.N.K. Nasir, N. Hambali, “Techniques of vibration feedback control of a flexible robot manipulator”, Proceedings of the 6th International Symposium on Mechatronics and Its Applications, 23-26 March 2009, pp. 1-6.[Link]

M.A. Ahmad, M.A. Zawawi, Z. Mohamed, “Effect of Beam's Length on the Dynamic Modelling of Flexible Manipulator System”, Proceedings of 11th International Conference on Computer Modelling and Simulation, Cambridge, UK, 25-27 March 2009, pp. 356-361.[Link]

R. M. T. Raja Ismail, M.A. Ahmad, M. S. Ramli, “Speed Control of Buck-converter Driven Dc Motor Using LQR and PI: A Comparative Assessment”, Proceedings of International Conference on Information Management and Engineering (ICIME 2009), K. Lumpur, 3-5 April 2009, pg. 651-655.[Link]

M.A. Ahmad, H. Ishak, A.N.K. Nasir, M.S. Ramli, “Comparison of Active Sway Control of a Gantry Crane System”, Proceedings of 3rd Asia International Conference on Modelling and Simulation (AICMS 2009), Bandung, 25-26 May 2009, pp. 431-435.[Link]

R.M.T. Raja Ismail, M.A. Ahmad, M.S. Ramli, “Speed Control of Buck-converter Driven Dc Motor Based on Smooth Trajectory Tracking”, Proceedings of 3rd Asia International Conference on Modelling and Simulation (AICMS 2009), Bandung, 25-26 May 2009, pp. 97-101.[Link]

M.A. Ahmad, A.N.K. Nasir, M.S. Najib, H. Ishak, “Anti-sway techniques in feedback control loop of a gantry crane system A comparative assessment of PD and PD-type fuzzy logic controller”, Proceedings of The 4th IEEE International Conference on Industrial Electronics and Applications (ICIEA 2009), Xi’an, China, 25-27 May 2009, pp. 2483-2487.[Link]

M.A. Ahmad, M.S. Najib, A.N.K. Nasir, “Hybrid Input Shaping and Feedback Control Schemes of a Gantry Crane System”, Proceedings of the 2nd International Conference on Control, Instrumentation and Mechatronic Engineering (CIM’09), 2-3 June 2009, Malacca, Malaysia.

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, M.A. Zawawi, N. Hambali, N.M. Abd Ghani, “Vibration Control of Flexible Joint Manipulator using Input Shaping with PD-type Fuzzy Logic Control”, Proceedings of IEEE International Symposium on Industrial Electronics (ISIE 2009), Seoul, Korea, 5-8 July 2009, pp. 1184-1189.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, “Hybrid Input Shaping and Non-collocated PID Control of a Gantry Crane System: Comparative Assessment”, Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009), 14-17 July 2009, Singapore.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, A.N.K. Nasir, M.S. Ramli, “Anti-sway Control of a Gantry Crane System based on Feedback Loop Approaches”, Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009), 14-17 July 2009, Singapore.[Link]

M.A. Ahmad, M.S. Ramli, R.M.T. Raja Ismail, N. Hambali, M.A. Zawawi, “The investigations of input shaping with optimal state feedback for vibration control of a flexible joint manipulator”, Proceedings of the Conference on Innovative Technologies in Intelligent Systems & Industrial Applications, 25-26 July 2009, Kuala Lumpur, pp. 446-451.[Link]

M.A. Ahmad, M.S. Ramli, R.M.T. Raja Ismail, A.N.K. Nasir, M.A. Zawawi, “The investigations of PD-type Fuzzy Logic with different polarities input shaping for anti-sway control of a gantry crane system”, Proceedings of the Conference on Innovative Technologies in Intelligent Systems & Industrial Applications, 25-26 July 2009, Kuala Lumpur, pp. 452-257.[Link]

M.A. Ahmad, A.N.K. Nasir, R.E. Samin, M.S. Ramli, “The Investigations of Input Shaping with Different Polarities for Anti-sway Control of a Gantry Crane System”, Proceedings of International Conference on Mechanical and Electronics Engineering (ICMEE 2009), Chennai, India, 24-26 July 2009.[Link]

M.A. Ahmad, M.A. Zawawi, N.M. Abd Ghani, H. Ishak, “Investigations of Thickness Effect in the Dynamic Modelling of Flexible Manipulator System”, Proceedings of International Conference on Mechanical and Electronics Engineering (ICMEE 2009), Chennai, India, 24-26 July 2009.[Link]

M.A. Ahmad, A.N.K. Nasir, H. Ishak, “Techniques of Anti-sway and Input Tracking Control of a Gantry Crane System”, Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation, Changchun, China, August 9 – 12, 2009, pp. 262-267.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, “Input Shaping Techniques for Anti-sway Control of a 3-D Gantry Crane System”, Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation, Changchun, China, August 9 – 12, 2009, pp. 2876-2881.[Link]

M.A. Ahmad, A.N.K. Nasir, N. Hambali, H. Ishak, “Hybrid input shaping and PD-type Fuzzy Logic control scheme of a gantry crane system”, Proceedings of IEEE International Conference of Control Applications (CCA 2009), St. Petersburg, Russia, July 8-10, 2009, pp. 1051-1056.[Link]

M.A. Ahmad, R.M.T., Raja Ismail, M.S., Ramli, N.F., Zakaria, N.M. Abd. Ghani, “Robust Feed-Forward Schemes for Anti-sway Control of Rotary Crane”, International Conference on Computational Intelligence, Modelling and Simulation (CSSim '09), Republic Czech, September 7-9, 2009, pp. 17 - 22.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, M.A. Zawawi, N.M. Abd Ghani, “Comparison of Feed-forward Schemes for Anti-sway Control of Rotary Crane”, Proceedings of the 2nd International conference on advanced computer theory and engineering (ICACTE 2009), Cairo, Egypt, September 25-27, 2009, pp. 61-68.[Link]

M.A. Ahmad, N. Hambali, R.M.T. Raja Ismail, M.S. Ramli, N.M. Abd Ghani, “Investigations of feed-forward techniques for anti-sway control of 3-D gantry crane system” , IEEE Symposium on Industrial Electronics & Applications (ISIEA 2009), K. Lumpur, October 4-6, 2009, pp.265-270.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, A.N.K. Nasir, N. Hambali, “Feed-forward Techniques for Sway Suppression in a Double-Pendulum-Type Overhead Crane”, Proceedings of International Conference on Computer Technology and Development (ICCTD 2009), K.Kinabalu, November 13-15, 2009, pp. 173-178.[Link]

M.S. Ramli, M.A. Ahmad, R.M.T. Raja Ismail, “Comparison of Swarm Adaptive Neural Network Control of a Coupled Tank Liquid Level System”, Proceedings of International Conference on Computer Technology and Development (ICCTD 2009), K.Kinabalu, November 13-15, 2009, pp. 130-135.[Link]

M. A. Ahmad, R. M. T. Raja Ismail, M. S. Ramli, R. E. Samin, M. A. Zawawi, “Robust input shaping for anti-sway control of rotary crane”, Proceedings of IEEE Region 10 Conference (TENCON 2010), Singapore, November 23-26, 2009, pp. 1-5.[Link]

R.M.T. Raja Ismail, M.A. Ahmad, M.S. Ramli, F.R.M. Rashidi, “Nonlinear Dynamic Modelling and Analysis of a 3-D Overhead Gantry Crane System with Payload Variation”, Proceedings of Third UKSim European Symposium on Computer Modeling and Simulation, Athens, Greece, November 25-27, 2009, pp. 350-354.[Link]

M.A. Ahmad, R.M.T. Raja Ismail, M.S. Ramli, A.N.K. Nasir, N.M. Abd Ghani, N.H. Noordin, “Comparison of Input Shaping Techniques for Sway Suppression in a Double-Pendulum-Type Overhead Crane”, Proceedings of Third UKSim European Symposium on Computer Modeling and Simulation, Athens, Greece, November 25-27, 2009, pp. 321-326.[Link]

2008

M.A. Ahmad, Z. Mohamed, A.N.K. Nasir, “Dynamic Modelling of a Two-link Flexible Manipulator”, Proceedings of The 4th International Colloquium on Signal Processing and its Applications (CSPA’08), Kuala Lumpur, 7-9 March 2008, pp. 516-521.

A.N.K. Nasir, M.A. Ahmad, N. Hambali, “Performance Comparison of PID and LQR Controller for a Ball-beam System”, Proceedings of The 4th International Colloquium on Signal Processing and its Applications (CSPA’08), Kuala Lumpur, 7-9 March 2008, pp. 251-255.

M.S. Ramli, R.E. Samin, M.R. Daud, M.A. Ahmad, “Design and Modeling for Revolute Control of USBM Simplified Model”, Proceedings of The 4th International Colloquium on Signal Processing and its Applications (CSPA’08), Kuala Lumpur, 7-9 March 2008, pp. 668-673.

M.A. Ahmad, Z. Mohamed, A.N.K. Nasir and H. Ishak, “Vibration Suppression Techniques in Feedback Control of a Very Flexible Robot Manipulator”, Proceedings of the 2nd Asia Modelling Symposium (AMS08), Kuala Lumpur, 13-15 May 2008, pp. 469-474.[Link]

R.E. Samin, M.S. Ramli, M.A. Ahmad, “Performance Comparison of PD-type Fuzzy Logic Controller of USBM Simplified Model”, Proceedings of The 2nd International Power Engineering and Optimization Conference (PEOCO 2008), Shah Alam, 4-5 June 2008, pp. 217-221.[Link]

M.A. Ahmad, Z. Mohamed, N. Hambali, “Dynamic Modelling of a Two-link Flexible Manipulator System Incorporating Payload”, Proceedings of The 3rd IEEE International Conference on Industrial Electronics and Applications (ICIEA 2008), Singapore, 3-5 June, pp. 96-101.[Link]

Z. Mohamed, M.A. Ahmad, “Hybrid Input Shaping and Feedback Control Schemes of a Flexible Robot Manipulator”, Proceedings of the 17th World Congress The International Federation of Automatic Control, Seoul, Korea, July 6-11, 2008, pp. 11714-11719.[Link]

M.S. Mohamed Ali, S.S. Abdullah, M.A. Ahmad, N. Hambali, “Optimization of PID Controllers for Cartesian Coordinates Control of Hovercraft System Using Metamodeling Approach”, Proceedings of the International Conference on Power Control and Optimization, Chiang Mai, Thailand, July 18-20, 2008.

A.N.K. Nasir, M.A. Ahmad, M.F. Rahmat, “Performance Comparison between LQR and PID Controller for an Inverted Pendulum System”, Proceedings of the International Conference on Power Control and Optimization, Chiang Mai, Thailand, July 18-20, 2008.[Link]

M.A. Ahmad, A.N.K. Nasir, N. Hambali, and H. Ishak, “Vibration and Input Tracking Control of Flexible Manipulator using Hybrid Fuzzy Logic Controller”, Proceedings of the IEEE International Conference of Mechatronics and Automation, Kagawa, Jepun, August 5-8, 2008.[Link]

M.A. Ahmad, “Vibration and Input Tracking Control of Flexible Manipulator Using LQR with Non-Collocated PID Controller”, Proceedings of the 2nd UKSIM European Symposium on Computer Modeling and Simulation, Liverpool, United Kingdom, September 8 – 10, 2008, pp. 40-45.[Link]

N. Hambali, M.A. Ahmad, A.N.K. Nasir, “Orientation Control of Hovercraft System Using PID and PD-type Fuzzy Logic Controller”, Proceedings of the International Conference on Underwater System Technology: Theory and Applications, Bali, Indonesia, 4-5 November 2008.

A.N.K. Nasir, M.A. Ahmad, N. Hambali, “Performance Comparison between LQR and PID Controller for a Speed and Path Trajectory Control of a Hovercraft System”, Proceedings of the International Conference on Underwater System Technology: Theory and Applications, Bali, Indonesia, 4-5 November 2008.

M.A. Ahmad, H. Ishak, A.N.K. Nasir, “Speed control of a buck-converter driven DC motor”, Proceedings of 2008 Student Conference on Research and Development (Scored 2008), Johor, Malaysia, 26-27 November 2008.

M.A. Ahmad, “Vibration reduction techniques using LQR and PD-type Fuzzy Logic Controller: A comparative Assessment”, Proceedings of the International Conference on Electronic Design, Penang, Malaysia, 1-3 December.[Link]

M.A. Ahmad, A.N.K. Nasir, M.S. Najib, M.S. Ramli, R.E. Samin, H. Ishak, N.M. Abdul Ghani, “Revolute control techniques of USBM simplified model”, Proceedings of the International Conference on Electronic Design, Penang, Malaysia, 1-3 December.[Link]

M.A. Ahmad, A.N.K. Nasir, “Vibration suppression techniques using Delayed Feedback Signal and LQR: A comparative assessment”, Proceedings of the International Conference on Mechatronics, IIUM, Selangor, Malaysia, 18-20 December 2008, pp. 15-22.

M.A. Ahmad, A.N.K. Nasir, “Hybrid input shaping and LQR control schemes of a gantry crane system”, Proceedings of the International Conference on Mechatronics, IIUM, Selangor, Malaysia, 18-20 December 2008, pp. 365-372.

M.S. Mohamed Ali, S.S. Abdullah, Z. Mohamed, M.A. Ahmad, “Optimization of PID controllers for a flexible robot manipulator using metamodeling approach”, Proceedings of 10th International Conference on Control, Automation, Robotics and Vision (ICARCV 2008), Hanoi, Vietnam, 17-20 December 2008.[Link]

RESEARCH GRANTS:

Collaborative/Matching Research Grant (Total = RM 330,000)

Co-researcher, UMPSA-EV PLUS MOBILITY SOLUTIONS SDN BHD, RDU252408 (RM20,000) / UIC250810 (RM20000), "Electric Vehicle Charging Accessibility Through Urban Retrofitting Solutions", April 2025 - April 2027
Program Leader UMPSA, MTUN Strategic Collaboration Research Grant, RDU243501 (RM100,000), "Data-driven modelling and control of double-pendulum overhead crane with distributed-mass payload", September 2024 - August 2026.
Co-researcher, UMPSA-CEE4EV, RDU242404 (RM25,000) / UIC240816 (RM25000), "Thermal effect investigation on DC-fast electric vehicle charging cables", May 2024 - April 2026
Co-researcher, CRG UMP-IIUM, RDU223216 (RM20,000), "An enhanced data-driven control tool based on modified game theoretic algorithm for improving convergence accuracy", September 2022 - August 2024.
Co-researcher, CRG UMP-UITM-IIUM, RDU200747 (RM20,000), "Formulation of discrete-time sliding mode control for three-level boost converter", December 2020 - December 2022.
Sub-Leader UMP, CRG UTM-UMP-UTHM-UTEM, RDU182303 (RM100,000), "Fabrication of metal-based flexible thermo-electric power harvesting device", October 2018 - September 2020.

Fundamental Research Grant Scheme, MOHE (Total = RM 1,066,220):

Co-researcher, RDU240101 (RM76,200), "The formulation of a sigmoid-based brain emotional learning based intelligent controller in a data-driven control scheme of nonlinear MIMO systems", August 2024 - July 2026.
Co-researcher, RDU220107 (RM70,000), "Formulation of improved smoothed functional algorithm using norm-limited function for stable convergence in model-free control scheme", September 2022 - August 2024.
Leader, RDU210106 (RM71,600), "Formulation of new data-driven control scheme by using augmented safe experimentation dynamics algorithm for improving convergence accuracy", September 2021 - September 2023.
Co-researcher, RDU210117 (RM58,500), "Formulation on multiple-node hormone regulation function of neuroendocrine-PID controller in data-driven control scheme for nonlinear MIMO systems", September 2021 - September 2023.
Co-researcher, RDU210110 (RM56,000), "Formulation of Fitness Adaptive Opposition based Multiobjective Spiral Dynamic Algorithms to Improve Accuracy and Diversity of Pareto Front", September 2021 - September 2023.
Co-researcher, RDU210128 (RM69,020), "Formulation of second-order sliding mode observer for estimation of inductor current in current-sensorless power converter control", September 2021 - September 2023.
Co-researcher, RDU1901218 (RM95,800), "Formulation of a mathematical estimation for dual step index optical fiber for low-cost human spine monitoring", September 2019 - August 2021.

Co-researcher, RDU1901119 (RM64,800), "Formulation of a new model-free adaptive control algorithm by using fictitious reference iterative tuning for suppression control in nonlinear liquid slosh system", September 2019 - August 2021.

Co-researcher, RDU1901196 (RM99,500), "Formulation of new multiobjective exponential and fitness based adaptive sine-cosine algorithm for improving accuracy and convergence speed", September 2019 - August 2022.

Co-researcher, UTM (RM90,800), "Nanostructured magnesium-antimony compound: a way forward for high performance thermoelectric power harvesting", January 2019 - December 2020.

Leader, RDU170104 (RM61,700), "An improved stochastic approximation by using switching function for stable convergence in model-free control scheme", August 2017 - August 2019.

Co-researcher, RDU160103 (RM99,900), "A novel multi-objective spiral algorithm for better response", August 2016 - July 2019.

Co-researcher, RDU160146 (RM65,700), "A study on the higher order sliding modes as a new technique for chattering elimination in electronics converters", August 2016 - July 2018.

Leader, RDU100102 (RM48,000), "A study of hybrid input shaping and nominal characteristic trajectory following (NCTF) controller for sway suppression of overhead crane", April 2010 - March 2012.

Co-researcher, RDU100112 (RM38,700), "Performance study on a time delay controller with stability analysis for active sway suppression of a gantry crane system", Sept 2010 - Sept 2012.

E-Science Fund, MOSTI (Total = RM 76,110):

Co-researcher, RDU100501 (RM76,110), "Trajectory tracking LQR control of two wheels mobile robot", Feb 2010 - Jan 2012.

UMP Research Grant (Total = RM 829,727):

Co-researcher, RDU240324 (RM36,800), "Formulation of an Improved FOPID Controller Using Sigmoid Variable Rate in Data-Driven Control Scheme for Nonlinear MIMO Systems", September 2024 - August 2026.
Co-researcher, PDU233213 (RM30,000), "Real-time detection of leaks in pipeline systems using accelerometer wireless sensor networks", December 2023 - December 2025.
Co-researcher, RDU230332 (RM 30,000), "An improved heuristics Kalman algorithm for parameter identification of nonlinear systems", August 2023 - July 2025.
Leader, RDU223011 (RM30,000), "An improved smoothed functional algorithm by using norm-limited update vector for stable convergence in model-free control scheme", July 2022 - July 2024.
Co-researcher, RDU210317 (RM24,500), "Elucidate the mechanism of grasping phenomenon of polyhedron fingertip irregular geometry object", October 2021 - September 2023.
Co-researcher, PDU203212 (RM21,500), "Development of a real time wearable system for monitoring sprint running performance", December 2020 - November 2022.

Co-researcher, RDU1903117 (RM23,000), "Establishment of modified multi-verse optimizer for system identifications of nonlinear systems", December 2019 - December 2021.

Co-researcher, RDU190325 (RM24,000), "A new neighborhood based spiral dynamic algorithm for PID controller tuning of underactuated systems", April 2019 - March 2021.

Co-researcher, RDU190316 (RM20,000), "Development hybrid sine-cosine algorithm (SCA) and simulated kalman filter (SKF) algorithm to investigate stability control of nonlinear underactuated system", April 2019 - March 2021.

Co-researcher, RDU1803161 (RM26,000), "Control of triple link inverted pendulum on two-wheeled system using optimized interval type-2 fuzzy logic control", September 2018 - September 2020.

Leader, RDU1803137 (RM22,000), "The development of data-driven piece-wise affine PID controller for MIMO system", August 2018 - August 2020.

Co-researcher, RDU1703160 (RM21,000), "Sigmoid-based PID controller for five-level diode-clamped inverter", June 2017 -June 2019.

Co-researcher, RDU1703153 (RM21,000), "Development of fish cupula inspired multi-fluidic sensor for liquid slosh detection", June 2017 - June 2019.

Co-researcher, RDU1703151 (RM20,500), "Development of a new nonlinear filtering algorithm for impulse noise reduction", June 2017 - June 2019

Co-researcher, RDU1703149 (RM22,000), "Development of data-driven controller for slosh suppression in liquid cargo vehicles", June 2017 - June 2019.

Co-researcher, RDU1603138 (RM31,800), "Development of improved metaheuristic algorithms for modelling and control of a flexible manipulator system", June 2016 - June 2018.

Co-researcher, RDU160374 (RM30,100), "Development of anti-sway control of overhead crane system subject to wind disturbances", June 2016 - June 2018.

Leader, RDU150344 (RM30,000), "A study on model-free approach for liquid slosh suppression based on stochastic approximation", June 2015 - June 2017.

Co-researcher, RDU140360 (RM21,000), "Development of a wall climbing robot for industrial inspection", May 2014 - May 2016.

Co-researcher, RDU110374 (RM39,500), "The development of a two-link flexible robot manipulator", Sept 2011 - Sept 2013.

Co-researcher, RDU100390 (RM26,000), "The development of an effect of integrated photovoltaic and wind turbine for distributed connected", Nov 2010 - Nov 2012.

Co-researcher, RDU100384 (RM37,920), "A fundamental study of anti-sway control for a rotary crane system", Nov 2010 - May 2012.

Co-researcher, RDU100389 (RM31,864), "Ultrasonic transmission-mode tomography for multi-phase flow regime identification", Nov 2010 - Nov 2012.

Co-researcher, RDU100379 (RM32,927), "The development of digital controller in rotary motion system", Oct 2010 - Aug 2012.

Co-researcher, RDU100378 (RM23,016), "Study of optimization technique for locomotion strategies of multi-legged mobile robot", Oct 2010 - April 2012.

Co-researcher, RDU090315 (RM31,000), "Trajectory tracking control of two wheels mobile robot ", Oct 2009 - Sept 2011.

Leader, RDU090350 (RM37,400), "Experimental investigations of command shaping techniques for anti-sway control of double pendulum gantry crane system", May 2009 - April 2010.

Co-researcher, RDU090349 (RM19,900), "Advancement research of the inverted pendulum concept applying to the robot as a balancer", May 2009 - April 2010.

Co-researcher, RDU090377 (RM11,000), "Active sway control of a two-dimensional gantry crane system", May 2009 - April 2010.

Co-researcher, RDU090346 (RM37,000), "Development of embedded control switched mode power supply (EC SMPS)", May 2009 - April 2010.

Co-researcher, RDU090335 (RM31,500), "Calibration and uncertainty computer-based system for temperature measurement in visual basic application", May 2009 - April 2010.

Leader, RDU080314 (RM7,000), "The development of embedded input shaping techniques for vibration control of flexible manipulator system", Aug 2008 - July 2009.

EXPERT/TECHNICAL CONTRIBUTIONS:

Associate Editor/Editorial Board:

Associate Editor, Scientific Journal of Engineering Research (SJER), 2025 - present
Editorial Board, International Journal of Electrical and Electronic Engineering & Telecommunications, 2024 - present
Associate Editor, International Journal of of Robotics and Automation (IPMU), 2021 - present
Associate Editor, International Journal of Power Electronics and Drive Systems (IAES), 2021 - present
Associate Editor, International Journal of Advances in Applied Sciences (IPMU), 2020 - present

Associate Editor, Journal of Future Robot Life (IOS Press), 2019 - present

Associate Editor, Applications of Modelling and Simulation, 2017 - present

Associate Editor, International Journal of Electrical and Computer Engineering (IAES), 2016 - present

Reviewer:

Reviewer, Solar Energy (Elsevier), 2025 - present
Reviewer, Computer Science Review (Elsevier), 2025 - present
Reviewer, IET Generation, Transmission & Distribution (Wiley), 2025 - present
Reviewer, Journal of Industrial Information Integration (Elsevier), 2025 - present
Reviewer, IEEE Power Engineering Letters (IEEE), 2025 - present
Reviewer, IEEE Transactions on Neural Networks and Learning Systems (IEEE), 2025 - present
Reviewer, Array (Elsevier), 2025 - present
Reviewer, IEEE Transactions on Energy Conversion, (IEEE), 2025 - present
Reviewer, IEEE/ASME Transactions on Mechatronics, (IEEE), 2024 - present
Reviewer, PLOS One (Public Library of Science), 2024 - present
Reviewer, Biomedical Signal Processing and Control (Elsevier), 2024 - present
Reviewer, International Journal of Refrigeration (Elsevier), 2024 - present
Reviewer, Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment (Sage), 2024 - present.
Reviewer, Global Energy Interconnection (Elsevier), 2024 - present
Reviewer, Energy Strategy Reviews (Elsevier), 2024 - present
Reviewer, Energy Technology (Wiley), 2024 - present
Reviewer, Sensors and Actuators: A. Physical (Elsevier), 2024 - present
Reviewer, Advanced Engineering Informatics (Elsevier), 2024 - present
Reviewer, Energy and AI (Elsevier), 2024 - present
Reviewer, Computer Methods in Applied Mechanics and Engineering (Elsevier), 2024 - present
Reviewer, Energy (Elsevier), 2024 - present
Reviewer, Results in Engineering (Elsevier), 2024 - present
Reviewer, Results in Control and Optimization (Elsevier), 2024 - present
Reviewer, IEEE Transactions of Fuzzy Systems (IEEE), 2023 - present
Reviewer, Connection Science (Taylor & Francis Online), 2023 - present
Reviewer, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering (Sage Publications), 2023 - present
Reviewer, IET Control Theory & Applications (Wiley), 2023 - present
Reviewer, Electronics (MDPI), 2023 - present
Reviewer, International Journal of Ambient Energy (Taylor & Francis Online), 2023 - present
Reviewer, Journal of the Brazilian Society of Mechanical Sciences and Engineering (Springer), 2023 - present
Reviewer, Electric Power Components and Systems (Taylor & Francis Online), 2022 - present
Reviewer, Sensors (MDPI), 2022 - present
Reviewer, AIMS Mathematics (AIMS Press), 2022 - present
Reviewer, Applied Sciences (MDPI), 2022 - present
Reviewer, Frontiers in Energy Research (Frontiers), 2022 - present
Reviewer, Automatika: Journal for Control, Measurement, Electronics, Computing and Communications (Taylor & Francis Online), 2022 - present
Reviewer, Mathematical Problems in Engineering (Hindawi), 2022 - present
Reviewer, Artificial Intelligence Review (Springer), 2021 - present
Reviewer, Journal of Computational Design and Engineering (Oxford University Press), 2021 - present
Reviewer, IEEE Access (IEEE), 2021 - present
Reviewer, Control Engineering Practice (Elsevier), 2021 - present
Reviewer, Alexandria Engineering Journal (Elsevier), 2021 - present

Reviewer, Neural Computing and Applications (Elsevier), 2020 - present

Reviewer, IEEE Control Systems Letters (IEEE), 2020 - present

Reviewer, Applied Soft Computing (Elsevier), 2020 - present

Reviewer, Applied Mathematical Modelling (Elsevier), 2020 - present

Reviewer, The Structural Design of Tall and Special Buildings (Wiley), 2019 - present

Reviewer, Journal of The Franklin Institute (Elsevier), 2019 - present

Reviewer, Journal of Experimental & Theoretical Artificial Intelligence (Taylor & Francis Online), 2019 - present

Reviewer, Measurement and Control (Sage), 2018 - present

Reviewer, Mechanical Systems and Signal Processing, an International Journal (Elsevier), 2018 - present

Reviewer, Engineering Science and Technology, an International Journal (Elsevier), 2017 - present

Reviewer, ISA Transactions (Elsevier), 2016 - present

Reviewer, International Journal of Control, Automation and Systems (Springer), 2016 - present

Reviewer, Shock and Vibration (Hindawi), 2016 - present

Reviewer, Transport (Taylor & Francis Online), 2016 - present

Reviewer, Advances in Mechanical Engineering (Sage Publications), 2015 - present

Reviewer, Engineering Science and Technology (Elsevier), 2015 - present

Reviewer, Mechatronics (Elsevier), 2015 - present

Reviewer, Mechanism and Machine Theory (Elsevier), 2015 - present

Reviewer, Chinese Journal of Aeronautics (Elsevier), 2015 - present
Reviewer, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science (Sage Publications), 2015 - present

Reviewer, Journal of Mechanical Engineering Science (Sage Publications), 2015 - present

Reviewer, Journal of Robotics (Hindawi), 2014 - present

Thesis Examiner:

Mohd Iskandar Putra Azahar, "Improved Finite-Time Prescribed Performance Control for Positioning and Dynamic Motion Control of a Pneumatic Grasper Robot", PhD Thesis, Universiti Malaysia Pahang Al-Sultan Abdullah, 2025.
Priya K M, "Performance analysis on improving the dynamic response of dc-dc converter with controller using metaheuristic algorithms for electric vehicle applications", PhD Thesis, Anna University, Chennai, India, 2025.
Marzia Ahmed, "New bio-inspired barnacle optimizers based least square support vector machine for time-series prediction of pandemic outbreaks", PhD Thesis, Universiti Malaysia Pahang Al-Sultan Abdullah, 2024.
Nurul A'in Bt. Nadzri, "An orthogonal multi-frequency Eddy current technique for simultaneous horizontal and vertical crack evaluation in steel components", PhD Thesis, Universiti Malaysia Pahang Al-Sultan Abdullah, 2024.
Nur Salma Mohd Mokhtar, "Modelling and controller design for quadcopter DJI F450 system", MSc in Electronic Engineering Thesis, Universiti Teknikal Malaysia Melaka, 2022.
Bakiss Hiyana Abu Bakar, "A solution to finite escape time in H-infinity filter SLAM", MSc Thesis, Universiti Malaysia Pahang, 2022.
Nafees Ahamad, "Design and performance analysis of optimal reduced order controller using evolutionary algorithm", PhD Thesis, DIT University Dehradun, India, 2019.

Muhammad Firdaus Masrom, "Virtual 3D modeling and control of triple-link inverted pendulum on two-wheeled system using optimized interval type-2 fuzzy logic controller", MSc Thesis, Universiti Malaysia Pahang, 2019.

Muhamad Faruqi Zahari, "Intelligent classification of ammonia concentration based on odor profile", MSc Thesis, Universiti Malaysia Pahang, 2016.

SUPERVISION:

PhD [Main Supervisor]:

Mohd Ikhmil Fadzrizan Mohd Hanif (On going)
Shahrizal Saat (On going)
Nik Mohd Zaitul Akmal Mustapha (On going)
Mok Ren Hao, "Data-driven tool using enhanced smoothed functional algorithm for nonlinear modelling and advanced PID control problems", August 2025 (Graduated)
Mohd Zaidi Mohd Tumari, "Data-driven tool based on improved marine predators algorithm for nonlinear control and system identification problems", May 2025 (Graduated)

Mohd Helmi Suid, "Hybridization of nonlinear sine cosine and safe experimentation dynamics algorithms for solving control engineering optimization problems", March 2024 (Graduated)

Mohd Riduwan Ghazali, "Data-driven neuroendocrine-PID controller for MIMO plants based on adaptive safe experimentation dynamics algorithm", November 2020 (Graduated)

PhD [Co-Supervisor]:

Goh Ming Qian (On going)

Muhammad Ikram Mohd Rashid, "Monte Carlo Hyper-Heuristics Optimisation for Energy Management Strategy (EMS) of Hybrid Electric Vehicle", August 2025 (Graduated)
Ghassan Maan Salim, "Optical goniometer device for continuous monitoring of the knee movement in physiotherapy application", November 2022 (Graduated)

Master of Science (Research Mode) [Main Supervisor]:

Muhammad Shafiqul Islam (On going)
Mohd Ikhmil Fadzrizan Mohd Hanif, "Improved PID controller based on piecewise affine function in data-driven control framework", July 2022 (Graduated)

Most. Julakha Jahan Jui, "Identification of continuous-time model of Hammerstein system using modified multi-verse optimizer", September 2021 (Graduated)

Nor Sakinah Abdul Syukor, "Safe experimentation dynamics algorithm for data-driven PID controller of a class of underactuated systems", February 2020 (Graduated)

Mok Ren Hao, "Model-free wind farm power production optimization using multi-resolution optimized relative step size random search", April 2019 (Graduated)

Master of Science (Research Mode) [Co-Supervisor]:

Islam Ahmed (On going)
Kavindran Suresh "Data-driven modelling and control of the cupping suction system based on the safe experimentation dynamics algorithm", May 2025 (Graduated)

Master of Philosophy (Research Mode) [Co-Supervisor]:

Mohamad Hafizulazwan Mohamad Nor, ''An improved broadcast control of multi-agent systems with norm-limited update vector'', UTM, December 2017 (Graduated)

Master of Electrical Engineering - Sustainable Energy (Coursework Mode) [Main Supervisor]:

Mohammad Fawzi Imhemad Hssaen (On going)
Mohammad Syazwan Mohd Asri, "Optimal tuning of neuroendocrine PID controller for dc-dc buck-boost converter-inverter driven dc motor in a PV system", March 2025 (Graduated)
Norsyahidatul Farah Nanyan, "Improved sine cosine algorithm for PID controller design of the dc-dc buck converter", March 2023 (Graduated)
Nurhidayu Rosmizi, "Parameter identification of solar cells using tunicate swarm algorithm", March 2022 (Graduated)
Ahmad Zairi Mohd Zain, "A modified salp swarm algorithm for improving total energy production of wind farm", September 2019 (Graduated)

Undergraduate (Final Year Project):

Muhammad Haziq Qayyum Mardi, "Data-driven TID Controller for double-pendulum crane system based on safe experimentation dynamics algorithm", 2025 (On going)
Che Zakir Hakim Che Mohamad Halim, "Improved smoothed functional algorithm for PID controller of functional electrical stimulation system", 2024 (On going)
Gokulakrishnan A/L/ Yoganathan, "Improved smoothed functional algorithms optimized PID controller for efficient speed regulation of wind turbines", March 2025 (Graduated)
Mohamad Faris Akram Ramali, "Robust PID tuning of functional electrical stimulation system based on indirect design approach", 2024 (Graduated)
Ling Kuok Fong, "Archimedes optimization algorithm for PID controller design of buck converter", 2023 (Graduated)
Harvin A/L Krishnan, "Parameter identification of solar cells using improved Archimedes optimization algorithm", 2022 (Graduated)
Cho Bo Wen, "Identification of continuous-time model of Hammerstein system using Archimedes optimization algorithm", 2022 (Graduated)
Dharswini A/P Ponnalagu, "Parameter identification of thermoelectric modules using enhanced slime mould algorithm", 2022 (Graduated)

Logeswaary A/P Devarajah, "Parameter identification of solar cells using enhanced slime mould algorithm", 2022 (Graduated)

Abdulkarem Mohammed Salem Jabeer, "Identification of continuous-time fractional order Hammerstein systems using modified sine cosine algorithm", 2021 (Graduated)

Najwa Hidayah Abdul Razak Ramesh, "Sigmoid PID based adaptive safe experimentation dynamics algorithm of portable duodopa pump for Parkinson's disease patients", 2020 (Graduated)

Era Fareha Junis, "Identification of Hammerstein systems using sine cosine algorithm", 2019 (Graduated)

Muhamad Syafiq Mohd Nawawi, "The development of liquid slosh sensor", 2019 (Graduated)

Tan Jing Chuan, "A nonlinear multivariable PID controller for multi-input multi output power electronic", 2019 (Graduated)

Mohd Faisal Farhan Kamerul Bieza, "A simplified fuzzy logic controller based safe experimentation dynamics for pantograph catenary system", 2018 (Graduated)

Muhammad Azizan Md. Idris, "A data-driven approach to wind farm control using moth-flame optimization (MFO) algorithm", 2018 (Graduated)

Daisy Anak Kui, "Command shaping control for liquid slosh systems", 2017 (Graduated)

Debbie Michelle Thenu, "Sigmoid based PID controller for double pendulum type overhead Crane (DPTOC)", 2017 (Graduated)

Nik Faisal Nik Azami, "Data-driven non linear PID controller for liquid slosh systems", 2017 (Graduated)

Nurriyah Mohd Noor, "Identification of Hammerstein model using stochastic perturbation stochastic approximation", 2016 (Graduated)

Mok Ren Hao, "A model-free approach to wind farm control using spiral dynamic algorithm methods", 2016 (Graduated)

Wan Nur Aainaa Ayuni Wan Abdullah, "Hybrid command shaping and PD controller for sway suppression of rotary crane system", 2016 (Graduated)
Sazalie bin Ibrahim, "The development of embedded negative input shaping for vibration control of a flexible manipulator", 2010 (Graduated)

Mohd Nor Azlan bin Zohari, "Experimental investigations of input shaping techniques for double pendulum type overhead crane (DPTOC) system", 2010 (Graduated)

Zakaria bin Abdul Rahman, "Speed control of buck-converter driven dc motor using PD-type Fuzzy logic controller", 2009 (Graduated)

Ng Kai Bin, "The development of band-stop filter for vibration control of a flexible manipulator using PIC microcontroller", 2009 (Graduated)

Noor Hazreen binti Sutomoh, "The development of band-stop filter for vibration control of a flexible manipulator", 2009 (Graduated)

Liew Yoong Sang, "The development of embedded negative input shaping for vibration control of e flexible manipulator by using PIC microcontroller", 2009 (Graduated)

Fatin Roziana Misran, " Development of high performance low-pass filter for anti-sway control of a gantry crane system", 2009 (Graduated)

Yip Hung Sum, "The development of embedded positive input shaping for vibration control of a flexible manipulate using PIC microcontroller", 2009 (Graduated)

Aainaa Hazwani binti Mohd Hashim, "The development of embedded lowpass filter for vibration control of a flexible manipulator", 2009 (Graduated)

Nur Sabrina binti Mohamed Azmi, "The development of negative input shaping for antisway control of a gantry crane system", 2009 (Graduated)

Nur Izana Hafiza, "The development of high performance band-stop filter for anti-sway control of a gantry crane system", 2009 (Graduated)
Zulaikah binti Zulkifely, "The development of positive input shaping for anti-sway control of a gantry crane system", 2009 (Graduated)

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