Publications

Journal Papers

S. Di Cairano and F. Borrelli, "Reference Tracking with Guaranteed Error Bound for Constrained Linear Systems", IEEE Trans. Automatic Control, in press
S. Di Cairano, U.V. Kalabic, I.V. Kolmanovsky,"Reference Governor for Network Control Systems subject to Variable Time Delay", Automatica, in press
S. Di Cairano, I.V. Kolmanovsky, , "Coordinating Controllers for Constrained Linear Systems by Virtual State Governors.", IEEE Trans. Automatic Control, 60(08), pp.2177-2182, 2015
S. Di Cairano, W. P. M. H. Heemels, M. Lazar, and A. Bemporad, "Stabilizing Dynamic Control Design for Hybrid Systems: A Hybrid Control Lyapunov Function Approach.", IEEE Trans. Automatic Control, 59(10), pp.2629-2643, 2014
J. Holaza, B. Takács, M. Kvasnica, S. Di Cairano, "Nearly optimal simple explicit MPC controllers with stability and feasibility guarantees", IEEE Optimal Control Applications and Methods, to appear
Ozatay, E., S. Onori, J. Wollaeger, U. Ozguner, G. Rizzoni, D. Filev, J. Michelini, and S. Di Cairano, "Cloud-Based Velocity Profile Optimization for Everyday Driving: A Dynamic-Programming-Based Solution.", IEEE Trans. Intell. Transportation Systems, 15(6), pp.2491-2505, 2014
S. Di Cairano, J. Doering, I.V. Kolmanovsky,D. Hrovat, "Model Predictive Control of Engine Speed During Vehicle Deceleration.", IEEE Trans. Control Sys. Technology, 22(6), pp.2205-2217, 2014
S. Di Cairano, D. Bernardini, A. Bemporad, and I.V. Kolmanovsky, "Stochastic MPC With Learning for Driver-Predictive Vehicle Control and its Application to HEV Energy Management.", IEEE Trans. Control Sys. Technology, 22(3), pp.1018-1031, 2014
S. Di Cairano, M. Brand, and S. A. Bortoff, "Projection-free parallel quadratic programming for linear model predictive control.", Int. Journal of Control, 86(8), pp. 1367-1385, 2013
J. Júlvez, S. Di Cairano, A. Bemporad and C. Mahulea, "Event-Driven Model Predictive Control of Timed Hybrid Petri Nets", Int. J. of Robust and Nonlinear Control, 24(12), pp.1724–1742, 2014
S. Di Cairano, W. Liang, I.V. Kolmanovsky, M.L. Kuang, A.M. Phillips, "Power Smoothing Energy Management with Applications to a Series Hybrid Powertrain", IEEE Trans. Control Systems Technology, 21(6), pp. 2091-2103, 2013.
S. Di Cairano, H.E. Tseng, D. Bernardini, A.Bemporad, "Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain", IEEE Trans. Control Systems Technology, 21(4), pp. 1236-1248, 2013.
S. Di Cairano, H. Park, I.V. Kolmanovsky, "Model Predictive Control Approach for Guidance of Spacecraft Rendezvous and Proximity Maneuvering", Int. J. Robust Nonlinear Control, 22(12), pp. 1398-1427, 2012
C.F. Caruntu, M. Lazar, R.H. Gielen, P.P.J. van den Bosch, S. Di Cairano, "Lyapunov-based Predictive Control of Vehicle Drivetrains over CAN", IFAC Control Eng. Practice, 21(4), pp. 1884-1898, 2013
1. R.M. Hermans, M. Lazar, I.V. Kolmanovsky, S. Di Cairano, "Horizon-1 Predictive Control of Automotive Electromagnetic Actuators", IEEE Trans. Control Systems Technology, 21(5), pp. 1652-1655, 2013.
S. Di Cairano, D. Yanakiev, A. Bemporad, I.V. Kolmanovsky, D. Hrovat, "Model Predictive Idle Speed Control: Design, Analysis, and Experimental Evaluation", IEEE Trans. Control Systems Technology, 20(1), pp. 84-97,2012
H. Borhan, A. Vahidi, A.M. Phillips, M.L. Kuang, I.V. Kolmanovsky, S. Di Cairano, "MPC-based Energy Management of a Power-Split Hybrid Electric Vehicle", IEEE Trans. Control Systems Technology, 20(3), pp. 593-603.
A. Bemporad, S. Di Cairano "Model Predictive Control of Discrete Stochastic Hybrid Automata", IEEE Trans. Automatic Control, 56 (6), pp 1307-1321, 2011.
S. Di Cairano, A. Bemporad, “Equivalent piecewise affine models of linear hybrid automata”, IEEE Trans. Automatic Control, 55(2), pp. 498-502, 2010
A. Bemporad, S. Di Cairano, E. Henriksson and K.H. Johansson, “Hybrid model predictive control based on wireless sensor feedback: an experimental study”, Int. J. of Robust and Nonlinear Control, 20 (2), pp. 209-225, special issue on “Industrial applications of wireless control”, 2010
S. Di Cairano, A. Bemporad, “Model predictive control tuning by controller matching”, IEEE Trans. Automatic Control, 55(1), pp. 185-190, 2010.
S. Di Cairano, A. Bemporad and J. Júlvez, “Event-driven optimization-based control of integral continuous-time hybrid systems”, Automatica, 45, pp. 1243-1251, 2009.
S. Di Cairano, A. Bemporad, I.V. Kolmanovsky and D. Hrovat, “Model predictive control of magnetically actuated mass spring dampers for automotive applications”, Int. J. of Control, 80(11), pp. 1701−1716, 2007.

Book Chapters

S. Trimboli, S. Di Cairano, A. Bemporad, and I.V. Kolmanovsky, "Model predictive control with delay compensation for air-to-fuel ratio control", Lecture Notes in Control and Inf. Sciences, vol.423, 2012, Springer.
J. B. Siegel, A. G. Stefanopoulou, G. Ripaccioli, and S. Di Cairano, “Purge Scheduling for Dead-Ended Anode Operation of PEM Fuel Cells”, The Control Handbook, Second Edition: Control System Applications, Second Edition . CRC Press, 2010.
S. Di Cairano, D. Yanakiev, A. Bemporad, I.V. Kolmanovsky, D. Hrovat, “Model predictive powertrain control: an application to idle speed regulation”, Lecture Notes in Control and Information Science, vol. 402, 2009, Springer.
L. Benvenuti, A. Balluchi, A. Bemporad, S. Di Cairano, B. Johansson, R. Johansson, A. Sangiovanni Vincentelli and P. Tunestal “Automotive Control” in “Handbook of Hybrid Systems Control - Theory, Tools, Applications”, Cambridge Univ. Press, 2009.
A. Bemporad, S. Di Cairano, G. Ferrari-Trecate, M. Kvasnica, M. Morari and S. Paoletti “Tools for modeling, simulation, control, and verification of piecewise affine systems”, in “Handbook of Hybrid Systems Control - Theory, Tools, Applications”, Cambridge Univ. Press, 2009.
G. Ripaccioli, A. Bemporad, F. Assadian, C. Dextreit, S. Di Cairano, and I.V. Kolmanovsky “Hybrid modeling, identification, and predictive control: an application to hybrid electric vehicle energy management”, in “Hybrid Systems: Computation and Control” 2009, Lecture Notes in Computer Science, Springer-Verlag.
S. Di Cairano, M. Lazar, A. Bemporad and W.P.H.M. Heemels “A control Lyapunov approach to predictive control of hybrid systems”, in “Hybrid Systems: Computation and Control” 2008, Lecture Notes in Computer Science, Springer-Verlag.
S. Di Cairano, K.H. Johansson, A. Bemporad and R.M. Murray “Discrete and hybrid stochastic state estimation algorithms for networked control systems”, in “Hybrid Systems: Computation and Control” 2008, Lecture Notes in Computer Science, Springer-Verlag.
A. Bemporad, S. Di Cairano and J. Júlvez, “Event-based model predictive control and verification of integral continuous hybrid automata”, in Hybrid Systems: Computation and Control , J. Hespanha and A. Tiwari, Eds., Lecture Notes in Computer Science. Springer-Verlag, 2006.
A. Bemporad and S. Di Cairano, “Optimal control of discrete hybrid stochastic automata”, in Hybrid Systems: Computation and Control, M. Morari and L. Thiele, Eds., Lecture Notes in Computer Science. Springer-Verlag, 2005.

Conference Proceedings (Reviewed)

S. Di Cairano, A. Goldsmith, S.A. Bortoff, "MPC and Spatial Governor for Multistage Processing Machines in Precision Manufacturing", 5th IFAC Nonlinear Model Predictive Control Conference, 2015.
A. Weiss, S. Di Cairano "Opportunities and Potential of Model Predictive Control for Low-Thrust Spacecraft Station-Keeping and Momentum-Management", European Control Conference, 2015.
X. Lan, S. Di Cairano "Continuous Curvature Path Planning for Semi-Autonomous Vehicle Maneuvers Using RRT*", European Control Conference, 2015.
J. Holaza, B. Takács, M. Kvasnica1, S. Di Cairano, "Safety Verification of Implicitly Defined MPC Feedback Laws", European Control Conference, 2015.
S. Di Cairano"Model adjustable predictive control with stability guarantees", American Control Conference, 2015.
J. Kang, A.U. Raghunathan, S. Di Cairano"Decomposition via ADMM for scenario-based Model Predictive Control", American Control Conference, 2015.
Y. Cheng, S. Haghighat, S. Di Cairano "Robust dual control MPC with application to soft-landing control", American Control Conference, 2015.
A. Weiss, U.V. Kalabic, S. Di Cairano, "Model Predictive Control for Simultaneous Station Keeping and Momentum Management of Low-Thrust Spacecraft", American Control Conference, 2015.
R. Gupta, U.V. Kalabic, S. Di Cairano, A.M. Bloch, I.V. Kolmanovsky, "Constrained spacecraft attitude control on SO (3) using fast nonlinear model predictive control", American Control Conference, 2015.
U.V. Kalabic, A. Weiss, I.V. Kolmanovsky, S. Di Cairano, "Station-keeping and momentum-management on halo orbits around L2: Linear-quadratic feedback and model predictive control approaches", American Control Conference, 2015.
A. Raghunathan, S. Di Cairano, "Infeasibility Detection in Alternating Direction Method of Multipliers for Convex Quadratic Programs", 53rd IEEE Conf. Decision and Control, 2014.
A. Weiss, S. Di Cairano, "Robust Dual Control MPC with Guaranteed Constraint Satisfaction", 53rd IEEE Conf. Decision and Control, 2014.
S. Di Cairano, S. Zafeiropoulos, "Governor-Based Control for Rack-Wheel Coordination in Mechanically Decoupled Steering Systems", 53rd IEEE Conf. Decision and Control, 2014.
M. Benosman, S. Di Cairano, A. Weiss, "Extremum Seeking-based Iterative Learning Linear MPC", 21st Int. Symp. Mathematical Theory of Network and Systems, 2014.
S. Haghighat, S. Di Cairano, D. Konobrytskyi, S.A. Bortoff, "Coordinated Control of a Dual-Stage Positioning System Using Constrained Model Predictive Control", ASME Dynamics Systems and Control Conference, 2014.
M. Klauco, J. Drgona, M. Kvasnica, S. Di Cairano, "Building Temperature Control by Simple MPC-Like Feedback Laws Learned from Closed-Loop Data", IFAC World Congress, 2014
N. Jain, D.J. Burns, S. Di Cairano, C.R. Laughman, S.A. Bortoff, "Model Predictive Control of Variable Refrigerant Flow Systems", Purdue Conf. Refrigeration and Air Conditioning, 2014.
A. Raghunathan, S. Di Cairano, "Optimal Step-Size Selection in Alternating Direction Method of Multipliers for Convex Quadratic Programs and Model Predictive Control", 21st Int. Symp. Mathematical Theory of Network and Systems, 2014.
S. Di Cairano, A. Ulusoy and S. Haghighat, "Soft-landing Control by Control Invariance and Receding Horizon Control", American Control Conf., 2014.
I.V. Kolmanovsky, E. Garone, S. Di Cairano, "Reference and Command Governors: A Tutorial on Their Theory and Automotive Applications", American Control Conf., 2014.
A. Raghunathan, S. Di Cairano, "Alternating Direction Method of Multipliers for Strictly Convex Quadratic Programs: Optimal Parameter Selection", American Control Conf., 2014.
U.V. Kalabic, R. Gupta S. Di Cairano, A.M. Bloch, I.V. Kolmanovsky, "Constrained Spacecraft Attitude Control on SO(3) Using Reference Governors and Nonlinear Model Predictive Control", American Control Conf., 2014.
S. Di Cairano and F. Borrelli, "Constrained Tracking with Guaranteed Error Bounds", 52nd IEEE Conf. Decision and Control, 2013.
J. Oravec, S. Blazek, M. Kvasnica, S. Di Cairano, "Polygonic Representation of Explicit Model Predictive Control", 52nd IEEE Conf. Decision and Control, 2013.
B. Takács, J. Holaza, M. Kvasnica, S. Di Cairano, "Nearly-Optimal Simple Explicit MPC Regulators with Recursive Feasibility Guarantees", 52nd IEEE Conf. Decision and Control, 2013.
S. Di Cairano and M. Brand" On a multiplicative update dual optimization algorithm for constrained linear MPC", 52nd IEEE Conf. Decision and Control, 2013.
S. Zafeiropoulos, and S. Di Cairano, "Vehicle yaw dynamics control by torque-based assist systems enforcing driver's steering feel constraints.", American Control Conference, 2013.
1. S. Di Cairano, W.P.M.H. Heemels, M. Lazar, A. Bemporad, "Hybrid Control Lyapunov Functions for the Stabilization of Hybrid Systems", Hybrid Systems: Computation and Control, 2013.
S. Di Cairano, J. Doering, I.V. Kolmanovsky, D. Hrovat, "MPC-based Engine Deceleration Control across an Open Torque Converter", 51st IEEE Conf. Decision and Control, 2012.
S. Di Cairano, C.A. Pascucci, A. Bemporad, "The Rendezvous Dynamics under Linear Quadratic Optimal Control", 51st IEEE Conf. Decision and Control, 2012.
Vladimir Milić, S. Di Cairano, J. Kasac, A. Bemporad, Z. Situm, "A Numerical Algorithm for Nonlinear L2-gain Optimal Control With Application to Vehicle Yaw Stability Control", 51st IEEE Conf. Decision and Control, 2012.
S. Di Cairano, "An Industry Perspective on MPC in Large Volumes Applications: Potential Benefits and Open Challenges", IFAC Symp. Nonlinear Model Predictive Control, 2012, semi-plenary paper.
D. Hrovat, S. Di Cairano, H.E.Tseng, I.V. Kolmanovsky, "The Development of Model Predictive Control in Automotive Industry: A Survey", IEEE Multiconf. Systems Control, 2012.
S. Di Cairano, I.V. Kolmanovsky, "Further Developments in Network Reference Governor Based Control of Constrained Systems", American Control Conference, 2012.
J. Wollaeger, S.A. Kumar, S. Onori, D.P. Filev, U. Ozguner, G. Rizzoni, S. Di Cairano, "Lyapunov-Based Constrained Engine Torque Control Using Electronic Throttle and Variable Cam Timing", American Control Conference, 2012.
E. Feru, M. Lazar, R. Gielen, I.V. Kolmanovsky, S. Di Cairano, "Cloud-Computing Based Velocity Profile Generation for Minimum Fuel Consumption: A Dynamic Programming Based Solution", American Control Conference, 2012.
S. Di Cairano, I.V. Kolmanovsky, "Constrained actuator coordination by virtual state governing", joint 50th IEEE Conf. Decision and Control and European Control Conference, 2011, Orlando, FL.
H. Park, S. Di Cairano, and I.V. Kolmanovsky, "Model predictive control of spacecraft docking with a non-rotating platform", IFAC World Congress, 2011, Milan, Italy.
H. Borhan, A. Vahidi, W. Liang, A. Phillips, S. Di Cairano, M. Kuang, R. McGee "Nonlinear model predictive control of a power-split hybrid electric vehicle: influence of inclusion of powertrain dynamics", ASME Dynamic Systems and Controls Conferences, 2011, Arlinghon, VA.
C. Caruntu, M. Lazar, S. Di Cairano, P. van Den Bosch, "Horizon-1 predictive control of networked controlled vehicle drivetrains", IFAC World Congress, 2011, Milan, Italy.
C. Caruntu, A. Balau, M. Lazar, P. van Den Bosch, S. Di Cairano, "A predictive control solution for driveline oscillations damping"", Hybrid Systems: Computation and Control Conference, 2011, Chicago, IL.
S. Di Cairano, W. Liang, I.V. Kolmanovsky, M.L. Kuang, A.M. Phillips, "Engine Power Smoothing Energy Management Strategy for a Series Hybrid Electric Vehicle", American Control Conference, 2011, San Francisco, CA.
1. H. Park, S. Di Cairano, and I.V. Kolmanovsky, "Model Predictive Control for Spacecraft Rendezvous and Docking with a Rotating/Tumbling Platform and for Debris Avoidance", American Control Conference, 2011, San Francisco, CA.
H. Park, S. Di Cairano, and I.V. Kolmanovsky, "Linear Quadratic Model Predictive Control Approach to Rendezvous and Docking", AAS/AIAA Space Flight Mechanics Meeting, 2011, New Orleans, LA.
S. Di Cairano, H.E Tseng, "Driver-Assist Steering by Active Front Steering and Differential Braking: Design, Implementation and Experimental Evaluation of a Switched Model Predictive Control Approach" 49th IEEE Conf. Decision and Control, 2010, Atlanta, GA.
M. Bichi, G. Ripaccioli, S. Di Cairano, D. Bernardini, A. Bemporad, I.V. Kolmanovsky, Stochastic Model Predictive Control with Driver Behavior Learning for Improved Powertrain Control" 49th IEEE Conf. Decision and Control, 2010, Atlanta, GA.
H. Borhan, C. Zhang, A. Vahidi, A.M. Phillips, M.L. Kuang, S. Di Cairano "Nonlinear Model Predictive Control for Power-Split Hybrid Electric Vehicles", 49th IEEE Conf. Decision and Control, 2010, Atlanta, GA.
S. Di Cairano, H.E. Tseng, D. Bernardini, A. Bemporad, “Steering vehicle control by switched model predictive control”, IFAC symposium on Advances in Automotive Control, 2010, Munich, Germany.
S. Di Cairano, I.V. Kolmanovsky “Rate limited reference governor for network controlled systems”, American Control Conference, 2010, to appear, Baltimore, MD.
G. Ripaccioli, D. Bernardini, S. Di Cairano, A. Bemporad, I.V. Kolmanovsky, “A stochastic model predictive control approach for series hybrid electric vehicle power management”, American Control Conference, 2010, Baltimore, MD.
G. Ripaccioli, J.B. Siegel, A.G. Stefanopoulou, S. Di Cairano, “Derivation and simulation results of a hybrid model predictive control for water purge scheduling in a fuel cell”, ASME Dynamic Systems and Control Conference, 2009.
D. Bernardini, S. Di Cairano, A. Bemporad, H.E. Tseng, “Drive-by-wire vehicle stabilization and yaw regulation: a hybrid model predictive control design”, 48th IEEE Conference on Decision and Control, 2009.
S. Trimboli, S. Di Cairano, A. Bemporad, I.V. Kolmanovsky, “Model predictive control for automotive time-delay processes: an application to air-to-fuel ratio control”, in Proc. of IFAC Workshop on Time delay systems, 2009.
S. Di Cairano, A. Bemporad, “Model predictive controller matching: Can MPC enjoy the small signal properties of my favorite linear controller?”, in Proc. of European Control Conference 2009.
R.M. Hermans, M. Lazar., S. Di Cairano, I.V. Kolmanovsky, “Low-complexity model predictive control of electromagnetic actuators with a stability guarantee”, in Proc. of American Control Conference, 2009, St Louis, MO.
R.M. Hermans, M. Lazar., S. Di Cairano, I.V. Kolmanovsky, “Low-complexity model predictive control of electromagnetic actuators”, IEEE Eurocon 2009, St. Petersburg, Russia.
S. Di Cairano, D. Yanakiev, A. Bemporad, I.V. Kolmanovsky, D. Hrovat, “An MPC design flow for automotive control and applications to idle speed regulation”, in Proc. of 47th IEEE Conference on Decision and Control 2008, Cancun, Mexico.
S. Di Cairano, A. Pasini, A. Bemporad and R.M. Murray “Convergence properties of dynamic agents consensus networks with broken links”, in Proc. of American Control Conference, 2008, Seattle, WA.
A. Bemporad, S. Di Cairano, E. Henriksson and K.H. Johansson, “Hybrid model predictive control based on wireless sensor feedback: an experimental study”, in Proc. of 46th IEEE Conference on Decision and Control 2007, New Orleans, LA.
A. Bemporad, S. Di Cairano, I.V. Kolmanovsky and D. Hrovat, “Hybrid modelling and control of a multibody magnetic actuator for automotive applications”, in Proc. of 46th IEEE Conference on Decision and Control 2007, New Orleans, LA.
M. Epstein, L. Shi, S. Di Cairano and R.M. Murray, “Using actuation buffers to reduce transmission frequency”, in Proc. of European Control Conference 2007, Kos, Greece.
S. Di Cairano, A. Bemporad, and A. Caldelli, “Moving target detection and tracking in wireless sensor networks”, in Proc. of European Control Conference 2007, Kos, Greece.
S. Di Cairano, A. Bemporad, I.V. Kolmanovsky and D. Hrovat, “Model predictive control of a magnetic automotive actuators”, in Proc. of American Control Conference 2007, New York, NY.
S. Di Cairano and A. Bemporad, “An equivalence result between linear hybrid automata and piecewise affine systems”, in Proc. of 45th IEEE Conference on Decision and Control 2006, San Diego, CA, US.
S. Di Cairano, A. Bemporad, I.V. Kolmanovsky and D. Hrovat, “Model predictive control of mechatronic systems: an application to a magnetically actuated mass spring damper”, in Proc. of 2nd IFAC Conference on Analysis and Design of Hybrid Systems, 2006, Alghero, Italy.
A. Bemporad, S. Di Cairano and N. Giorgetti, “Model predictive control of hybrid systems with applications to supply chain management” in Proc. of ANIPLA 2005, Napoli.
A. Bemporad, S. Di Cairano and J. Júlvez, “Event-driven optimal control of integral continuous hybrid automata”, in Proc. of IEEE 44th Conference on Decision and Control and European Control Conference 2005, Seville, Spain.

Interactive presentations & Selected Technical Reports

A. Alessio and S. Di Cairano, “Tools for hybrid control design”, at Hybrid Systems: Computation and Control, conference, 2007.
M. Aly, J.W. Burdick, V. Carson, S. Di Cairano, N. duToit, M. Flores, J. Gonzalez, A. Howard, L. Lindzey, J. Ma, R.M. Murray, R. Petras, S. Pfister, D. Rizzo, T. Wongpiromsarn, "Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge", Team Caltech Technical Paper, DARPA Urban Challenge, 2007: http://www.darpa.mil/grandchallenge/TechPapers/Cal_Tech.pdf.
S. Di Cairano, A. Bemporad, M. Kvasnica, M. Morari, "An architecture for data interchange of switched linear systems, HYCON Network of Excellence, Deliverable workpackage 3.D, 2006.

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