Roberto Horowitz

ROBERTO HOROWITZ

Address:		Department of Mechanical Engineering
		5138 Etcheverry Hall
		University of California
		Berkeley, CA 94720-1740
Voice:		(510) 642-4675
Fax:		(510) 643-5599
Email:		horowitz@berkeley.edu
URL:		http://www.me.berkeley.edu/[ \tilde]horowitz

Research Interests:

Adaptive, learning and nonlinear control, control of robot manipulators, computer mechatronics systems, micro-electromechanical systems (MEMS), intelligent vehicle and highways systems (IVHS), biomechanical systems.

Education:

6/83: Ph.D. in Mechanical Engineering, University of California at Berkeley.
Major: Dynamic Systems and Control. Minors: Design and Mathematics.
12/77: B.S. in Mechanical Engineering, University of California at Berkeley.
Graduated with the highest honors.

Professional Experience:

7/94 - present: Professor of Mechanical Engineering, University of California at Berkeley.
Duties include: Teaching of undergraduate and graduate courses in control theory and dynamic systems, robotics, mechatronics, real time computer applications in mechanical engineering, and mechanical engineering laboratories. Research supervision of graduate students in the above mentioned areas.
7/00 - 7/03: Vice-Chair of Graduate Study, Department of Mechanical Engineering University of California at Berkeley.
7/89 - 7/94: Associate Professor of Mechanical Engineering, University of California at Berkeley. Same duties as above.
6/83 - 7/89: Assistant Professor of Mechanical Engineering, University of California at Berkeley. Same duties as above.
7/84 - 8/84: IBM General Product Division, Magnetic Disk File Systems, San Jose, California. Responsible for evaluating research and academic developmental needs of mechanical engineers in the disk file servo product division.
9/82 - 5/83: Acting Assistant Professor of Mechanical Engineering, University of California at Berkeley. Responsible for teaching an undergraduate course in dynamic systems and controls and a graduate course in optimal, adaptive and stochastic control.
1/81 - 5/81: Acting Instructor of Mechanical Engineering, University of California, Mechanical Engineering. Responsible for teaching undergraduate course in dynamic systems.
1/80 - 5/81: Teaching Assistant, University of California, Berkeley, Department of Mechanical Engineering. Graduate student teaching aid in the instruction of graduate control theory courses.
6/78 - 8/78: Research Assistant, University of California, Biomechanics Laboratory. Analysis and optimization of six link artificial knee.
7/77 - 9/77: Internship, Department of General Engineering, Amuay oil refinery, LAGOVEN, Venezuela.

Awards:

6/05: American Automatic Control Council (AACC) Hugo Schuck Best Application Paper Award for the paper “Mixture Kalman filter based highway congestion mode and vehicle density estimator and its application,” in Proceedings of the 2004 American Control Conference, Boston, MA, Jun. 30-–Jul. 2, 2004, pp. 2098-–2103 (with X. Sun and L. Muñoz).
1/97 - 3/97: Japanese Ministry of Education Foreign Researcher Award.
7/87 - 7/92: NSF Presidential Young Investigator Award.
1/84 - 9/85: IBM Young Faculty Development Award.
6/83: PI TAU SIGMA Excellence in Teaching Award, University of California at Berkeley.
1/78 - 6/82: CONICIT Venezuelan graduate fellowship.
12/77: B.S. with the Highest Honors, University of California at Berkeley.
1/75 - 12/77: GMA Venezuelan undergraduate fellowship.

Society Membership and Professional Activities

2006: Member of Program Committee for the IEEE MMM/Intermag-2007 Conference.
2006-2009: Member of Honors Committee of the Dynamics Systems and Control Division of ASME.
2003-2004: Member of the Program Committee of the 2004 joint IEEE Conference on Control Applications (CCA), International Symposium on Intelligent Control (ISIC) and Computer Aided Control Systems Design (CACSD).
2002-2003: Publicity Chair and member of the Organizing Committee for the 2003 American Control Conference (ACC).
2002: USA Co-Chair of the 2002 IEEE Asian Pacific Magnetic Recording Conference.
2002: Member of the Advisory Panel for the Venezuelan Ministry of Science and Technology and Evaluator of their Scholarship and Research Funding Programs, January 16-20 2002.
2000: Member of the Program Committee of the 2000 IEEE Asian Pacific Magnetic Recording Conference.
1999: Member of the Program Committee of the 9th IFAC Symposium on Control and Transportation Systems, 2000.
1999: Member of the Program Committee of the 2000 IEEE International Conference on Robotics and Automation.
1998-present: Associate Editor, Journal of Information Storage and Processing Systems.
1998-present: Associate Editor, Journal of Micromechatronics,VSP.
1998: Member of the Program Committee of the 1998 IEEE Asian Pacific Magnetic Recording Conference.
1997: Member of the Program Committee of the IEEE CIRA'97 Workshop.
1997: Member of the Program Committee of the IEEE SYROCO'97 Conference.
1996: Member of the Program Committee of the 1996 IEEE Asian Pacific Magnetic Recording Conference.
1996: Member of the Program Committee of the 1996 IEEE International Conference on Robotics and Automation.
1996: Program Vice Chair of the AMC'96-MIE 4th International Workshop on Advanced Motion Control.
1996: Member of the Organizing Committee of the 1996 Japan-USA Symposium on Flexible Automation.
1992: USA Program Vice-chair of the 1992 Japan-USA Symposium on Flexible Automation, Organized by the DSCD of the ASME.
1991: ASME representative and a member of the 1991 American Control Conference program committee.
1990: ASME representative and a member of the 1990 American Control Conference program committee.
7/89 - 7/92: Associate Editor of the ASME Journal of Dynamic Systems Measurement and Control
11/84 - 12/89: Chairman of Adaptive Control Panel of the Dynamic Systems and Control Division (DSCD).; Member of the Institute of Electrical and Electronics Engineers (IEEE).; Member of the American Society of Mechanical Engineers (ASME).; Member of Tau Beta Pi Engineering Honor Society.; Member of Pi Tau Sigma Mechanical Engineering Honor Society.

Publications

(List attached).

Students who completed their Ph.D. under my supervision (27)

2006: Kenn Oldham, Microdevices for Vibration Suppression in Computer Hard Disk Drives. Spring 2006. Dr. Oldham is currently a postdoctoral research at the Army Research Laboratories and will become an Assistant Professor of Mechanical Engineering at the University of Michigan.
2006: Jongeun Choi, Self-Organizing Algorithms for Controlling Network Feature Map Probability Distributions, and Synthesizing Multiple Robust Controllers. Spring 2006. Dr. Choi will become an Assistant Professor of Mechanical Engineering at Michigan State University.
2006: Xinghui Huang, Robust Track-Following Control Design for Dual-Stage Servo Systems with a MEMS Microactuator and an Instrumented Suspension. Spring 2006. Dr. Huang is currently a Researcher at the Seagate Research Center, Pittsburgh.
2005: Si-Hyung (Shawn) Lim, Opto-Mechanical Sensor Array for Physically and Chemically Induced Nanoscale Motion Detection. August 2005 (A. Majumdar, co-advisor). Dr. Lim is currently a Postdoctoral Researcher at the Berkeley Nanoscience and Nanoengineering Institute (BNNI).
2005: Xiaotian Sun, Modeling, Estimation, and Control of Freeway Traffic. Spring 2005. Dr. Sun is currently a Researcher at Hitachi Global Storage Technologies, San Jose.
2004: Gabriel Gomes, Optimization and Microsimulation of On-ramp Metering for Congested Freeways. Dr. Gomes is currently a postdoctoral research at PATH.
2004: Laura Muñoz Macroscopic Modeling and Identification of Freeway Traffic Flow. Dr. Muñoz is currently a postdoctoral research at PATH.
2003: Yunfeng Li Dual-Stage Servo Control and Active Vibration Compensation in Magnetic Hard Disk Drives. Dr. Yi is currently at Samsung.
2001: Jingang Yi, Fault Detection and Handling for Longitudinal Control. Dr. Yi is currently an instructor at Texas A&M..
2001: Carlo Cloet, A Mechatronics Approach to Copier Paperpath Design, July 2001 (M. Tomizuka, co-advisor). Dr. Cloet is currently at Real Time Innovations.
2001: Tsung-Lin (Tony) Chen, Design Fabrication and Control of PZT-Actuated Polysilicon Suspensions for Hard Disk Drives. Dr. Chen is currently an Assistant Professor in the Department of Mechanical Engineering, National Chiao Tung Univ. in Taiwan.
2000: Sungsu Park, Adaptive Control Strategies for MEMS Gyroscopes, Dec. 2000 Dr. Park is currently an Assistant Professor in the Department of Aerospace Engineering, Sejong University, Korea.
2000: Martin Krucinski, Paper Path Control of Xerographic Machines, Dec. 2000 (M. Tomizuka, co-advisor). Dr. Krucinski is currently at the Xerox Research Laboratories in Rochester NY.
2000: Charmaine Toy, Emergency Vehicle Control Laws and Maneuvers for Automated Highway Systems, May 2000 Dr. Toy is currently at Dicon Fiberoptics.
1997: David Horsley, Microfabricated Electrostatic Actuators for Magnetic Disk Drives, May 1997 (A.P. Pisano was a co-advisor). Dr. Horsley is currently an Assistant Professor in the Department of mechanical Engineering at U.C. Davis.
1997: Satinderpall Singh Pannu, Adaptive Servo using Micromachined Accelerometers for Increased Disturbance Rejection for Magnetic Hard Disk Drives, May 1997. Dr. Pannu is currently at Lawrence Livermore Laboratories.
1997: Joel F. Shields, Control of Exercise Machines, Theory and Experiments, December 1997. Dr. Shields is a researcher a JPL.
1996: Luis Alvarez, Automatic Highway Systems: Safe Platooning and Traffic Flow Control, December 1996. Dr. Alvarez is a Professor in the Department of Electrical Engineering at the Universidad Autonoma Nacional de Mexico (UNAM).
1995: Perry Y. Li, Self-optimizing Control and Passive Velocity Field Control of Intelligent Machines, May 1995. Dr. P. Li is an Associate Professor in the Department of Mechanical Engineering of the University of Minnesota.
1995: Bo Li, Wiener Filter Base Adaptive Control with Applications to the Design of Disk File Servos, May 1995. Dr. Li is a Engineer at Samsung, San Jose, CA.
1995: Patrick Cheung, Design, Fabrication, Position Sensing and Control of Electrostatic, Surface-Micromachine Polysilicon Microactuators, May 1995. Dr. Cheung is a researcher at Xerox PARC in Palo Alto, CA.
1992: William Messner, Learning Control, December 1992. Dr. Messner is a Professor in the Department of Mechanical Engineering, Carnegie-Mellon University.
1992: James McCormick, Performance Enhancements of Disk File Servos Through Adaptive Control, December 1992. Dr. McCormick is currently working for a robotics company in the Durham-Raleigh area.
1990: Wei-Wen Kao, Learning Control of Robot Manipulators, Spring 1990. Dr. Kao is an Associate Professor in the Department of Mechanical Engineering Yuan-Ze Institute of Technology, Taiwan, R.O.C.
1989: Chul Goo Kang, Robust Deterministic Control for Robotic Manipulators, Fall 1989. Dr. Kang is an Associate Professor in the Department of Mechanical Engineering at the Kon Kuk University, Mo-Jin-Dong Seong-Dong-Gu, Seoul, Korea.
1988: Jia-Yush Yen, Identification and Control of a Computer Disk Drive Actuator, December 1988. Dr. Yen is a Professor in the Department of Mechanical Engineering at the National Taiwan University, Taipei, R.O.C.
1987: Nader Sadegh, Adaptive Control of Mechanical Manipulators: Stability and Robustness Analysis, December 1987. Dr. Sadegh is a Professor in the School of Mechanical Engineering at Georgia Tech.

Current Graduate Students

: Richard Conway, M.S./Ph.D. student. Robust Control of Dual-Stage Servo Systems.
: Edgar Egueta, M.S./Ph.D. student. Design, fabrication and control of media handling systems.
: Sarah Felix, M.S./Ph.D. student. MEMS devices for dual-stage and vibration suppression servo systems.
: Sing Yu Cheung, (with P. Varaiya), Ph.D. student. MEMS sensors for traffic monitoring.
: Benjamin Fine, M.S./Ph.D. student. Design, fabrication and control of media handling systems.
: Stanley Kong, Ph.D. student (advanced to candidacy) (advanced to candidacy). Fabrication and characterization of piezoressitive and piezoelectric strain sensors for instrumented metal suspensions.
: Rene Sanchez (with M. Tomizuka), Ph.D. student (advanced to candidacy). Design, fabrication and control of media handling systems.
: Shantisa Norman, M.S./Ph.D. student. Traffic Control Systems.

Invited Lectures, Short Courses

2005: "Design and Simulation of On-Ramp Metering Freeway Traffic Control Strategies," School of Engineering, Universidad Autónoma Nacional de México (UNAM) March 20, 2005, (Invited Talk).
2005: "Dual-Stage Servo Systems and Vibration Compensation in Computer Hard Disk Drives," School of Engineering, Universidad Autónoma Nacional de México (UNAM) March 29, 2005, (Invited Talk).
2004: "Dual-Stage Servo Systems and Vibration Compensation in Computer Hard Disk Drives," School of Engineering, University of Tasmania, Australia September 10, 2004, (Invited Talk).
2004: "Control Challenges in Mechatronics Systems" School of Engineering, University of Tasmania, Australia. September 9, 2004, (Invited Talk).
2004: "Dual-Stage Servo Systems and Vibration Compensation in Computer Hard Disk Drives," 3rd IFAC Symposium on Mechatronic Systems, Sydney Australia. September 6-8, 2004, (Plenary Lecture).
2003: "Dual-Stage Servo Systems and Vibration Compensation in Computer Hard Disk Drives," Department of Mechanical Engineering, University of Minnesota. October 14, 2003, (Invited Talk).
2003: "Mechatronics Research at U.C. Berkeley," Symposium on Robust Process Engineering, U.C. Davis. July 21, 2003, (Invited Talk).
2003: "Design and Implementation of Dual-Stage Servos in Disk Drive," Department of Mechanical Engineering, UCLA. March 13, 2003, (Invited Lecture).
2002: "Mechatronics Research at U.C. Berkeley," Universidad Simón Bolívar, Venezuela. March 5, 2002. (Invited Talk).
2000: "Windage Vibration Compensation in Hard Disk Drives using Instrumented Suspensions," Hutchinson Technology Inc. (HTI). Dec. 4, 2000. (Invited lecture).
2000: "Windage Vibration Compensation in Hard Disk Drives using Instrumented Suspensions," Seagate. Dec. 5, 2000. (Invited lecture).
2000: "Design and Control of Electrostatic Microactuators and Micro-gyroscopes," Penn State, Department of Mechanical Engineering. April 25, 2000. (Invited Lecture).
2000: "Hierarchical Control of Automatic Highway Systems," Penn State, Department of Mechanical Engineering. April 24, 2000. (Invited Lecture).
2000: "Mechatronics of Electrostatic Microactuators and Micro-Gyroscopes," Proceedings of the 6th International Workshop on Advanced Motion Control (AMC2000), March 30 - April 1, 2000. (Plenary Talk).
1999: "Design and Control of Electrostatic Microactuators and Micro-gyroscopes," Oklahoma State University, October 27, 1999. (South Western Mechanics Lecture Series).
1999: "Design and Control of Electrostatic Microactuators and Micro-gyroscopes," University of Texas at Arlington, October 27, 1999. (South Western Mechanics Lecture Series).
1999: "Design and Control of Electrostatic Microactuators and Micro-gyroscopes," South Methodist University, October 26, 1999. (South Western Mechanics Lecture Series).
1999: "Control of Self-optimizing Exercise Machines," University of Houston, October 25, 1999. (South Western mechanics Lecture Series).
1999: "Hierarchical Control of Automatic Highway Systems," Xerox PARC Robotics Seminar Series. August 30, 1999. (Invited Lecture).
1999: "Design and Control of Electrostatic Microactuators and Micro-gyroscopes," School of Mechanical Engineering, Georgia Institute of Technology. January 27, 1999.
1999: "Hierarchical Control of Automatic Highway Systems," Control Seminar Series, The University of Michigan. November 13, 1998. (Invited Lecture).
1998: "Control of Self-optimizing Exercise Machines," Presented at the 1998 IFAC International Workshop on Motion Control, September 21-23, 1998, Grenoble, France. (Plenary Talk).
1998: Äpplication of Microactuators and Microaccelerometers in Disk Drives," (with R. Howe). Seagate Technologies, June 17, 1998. Minneapolis, Minnesota. (Invited Lecture).
1997: "MEMS for Ultra-High Density Hard Disk Drives," Third International Micromachine Symposium, Tokyo, Japan, Oct. 1997. (Invited Talk).
1997: "Design, Fabrication and Control of Microactuators," International Disk Drive Equipment Materials Association (IDEMA). San Jose, September 22, 1997. (Invited Lecture).
1997: Äutomatic Highway Systems: The Smart Way to Go," Department of Mechanical and Aerospace Engineering, University of Princeton. September 26, 1997. (Invited Lecture).
1997: Äutomatic Highway Systems: The Smart Way to Go," Presented at the 1997 IFAC Symposium on Transportation Systems, June 19, 1997, Chania, Greece. (Plenary Talk).
1997: "Design, Fabrication and Control of Polysilicon Microactuators," SGS Thompson, Milano, Italy, June 26, 1997. (Invited Lecture).
1997: "Design, Fabrication and Control of Polysilicon Microactuators," "Passive Velocity Field Control of Robot Manipulators," "Design of Control Architectures for Automated Highway Systems," Department of AMES, University of California at San Diego. April 21-23, 1997. (Invited Lectures).
1997: "Polysilicon Electrostatic Microactuators," in Workshop on Micromechanical Robotics (T. Fukuda and F. Arai org.), IEEE Conference on Robotics and Automation, Albuquerque, April 20, 1997.
1997: "Design, Fabrication and Control of Microactuators," Western Digital Disk File Servo Group, April 3, 1997, (Invited Lecture).
1997: "Design, fabrication and Control of Polysilicon Microactuators and Microgyros," Department of Electrical Engineering, Kobe University, March 19, (Invited Lecture).
1997: "Passive Velocity Field Control of Robot Manipulators and Control of Smart Exercise Machines," Department of Electrical Engineering, Hiroshima University, March 18, (Invited Lecture).
1997: "Passive Velocity Field Control of Robot Manipulators and Control of Smart Exercise Machines," Department of Mechanical Engineering, Koyto University, March 17, (Invited Lecture).
1997: "Design, fabrication and Control of Polysilicon Microactuators and Microgyros," Department of Microsystems Engineering, Nagoya University, February 26, (Invited Lecture).
1997: "Design, fabrication and Control of Polysilicon Microactuators and Microgyros," Venture Business Laboratory, Nagoya University, February 24, (Invited Lecture).
1997: "Control of Smart Exercise Machines," Department of Microsystems Engineering, Nagoya University, February 19, (Invited Lecture).
1997: "Passive Velocity Field Control of Robot Manipulators," Department of Microsystems Engineering, Nagoya University, February 14, (Invited Lecture).
1997: "Design of Control Architectures for Automated Highway Systems," Department of Microsystems Engineering, Nagoya University, January 17, (Invited Lecture).
1997: "Design, fabrication and Control of Polysilicon Microactuators and Microgyros," Nagoya City Micromachine Research Committee, Nagoya Design Hall, March 11, (Invited Lecture).
1997: Äutomated Highways, Intelligent Exercise Machines and Micromechatronics," Venezuelan Embassy in Japan, Latinoamerican Lecture Series, March 10, (Invited Lecture).
1997: "Design of Control Architectures for Automated Highway Systems," Tokyo Institute of Technology, Department of Control Engineering, March 10, (Invited Lecture).
1997: "Design of Control Architectures for Automated Highway Systems," JSME Committee on Human Friendly Mechatronics, University of Tokyo, Industrial Sciences, March 7, (Invited Lecture).
1997: "Design, Fabrication and Control of Polysilicon Microactuators," NTT Laboratories, March 7, (Invited Lecture).
1997: "Design, Fabrication and Control of Polysilicon Microactuators and Control of Smart Exercise Machines," Hitachi Mechanical Engineering Laboratories, March 6, (Invited Lecture).
1996: "Design and Analysis of Control Architectures for Automated Highways Systems," Department of Electrical Engineering, UC Santa Barbara, December 14, 1996, (Invited Lecture).
1996: "Design, Fabrication and Control of Microactuators," Quantum Disk File Servo Group, December 9, 1997, with D. Horsley and A.P. Pisano, (Invited Lecture).
1996: "Design, Fabrication and Control of Microactuators," University of Washington, Seattle WA, November 1996, (Invited Lecture).
1996: "Design, Fabrication and Control of Microactuators," Xerox Wilson Research Center Distinguished Lecture Series, Rochester, NY, October 11, 1996, (Invited Lecture).
1996: "Design and Analysis of Control Architectures for Automated Highways Systems," Xerox Wilson Research Center, Rochester, NY, October 10, 1996, (Invited Lecture).
1996: "Design, Fabrication and Control of Microactuators,"Department of Mechanical Engineering, University of Illinois at Urbana-Champain, IL, October 8, 1996, (Invited Lecture).
1996: "Design and Analysis of Control Architectures for Automated Highways Systems," Coordinated Science Laboratory, University of Illinois at Urbana-Champain, IL, October 9, 1996, (Invited Lecture).
1995: "Polysilicon Electrostatic Microactuators, in Workshop on Micromechanical Robotics" (T. Fukuda and R. Fearing org.), IEEE Conference on Robotics and Automation, Nagoya, Japan, May 22 1995.
1995: Ädaptive Control of Disk File Servos and Micromechanical Actuators for Disk File Servos," Data Storage and Retrieval Systems Division, Hitachi, Ltd, Japan, May 25 1995, (Invited Lecture).
1995: "Design, Fabrication, Position Sensing, and Control of an Electrostatically-driven Polysilicon Microactuator," The Magnetic Recording Conference (TMRC), Pittsburgh, PA, July 1995, (Invited presentation).
1994: "Control of Mechatronic Systems, Carnegie Mellon University," Dept. of Mech. Eng., Sept. 21 1994, (Invited Lecture).
1994: Control of Mechatronic Systems," University of Pittsburgh, Dept. of Mech. Eng., Sept. 20 1994, (Invited Lecture).
1993: "Learning Control of Robot Manipulators," Tokyo Institute of Technology, Japan, August 1993. Invited lecture.
1993: Ädaptive Control of Disk File Actuators," Hitachi Mechanical Engineering Laboratory, Japan, August 1993. Invited lecture.
1993: Ädaptive Control of Disk File Actuators," Fujitsu Laboratories, Japan, August 1993. Invited lecture.
1993: Ädaptive Control of Disk File Actuators," IBM Adstar, San Jose, July 1993. Invited lecture.
1992: "Learning Control Applications to Mechatronics," 1992 International Conference on Motion and Vibration Control, Yokohama, Japan, September 1992. Keynote Speech.
1992: "Learning Control Applications to Mechatronics," Nipon Telegraph and Telephone (NTT), September 1992. Invited lecture.
1991: "Learning Control Applications in Robotics and in Optimal Control," Conference des Grandes Ecole (CGE)-UC Berkeley, Paris, France, May, 1991. Invited Lecture.
1991: "Mechatronics Research at U.C. Berkeley," Invited Lecture at the "Simposium de Actualidades Nacionales e Internacinales de la Electronica y Telecomunicacion," organized by the Ministerio de Fomento y FIVAI, April 1991, Caracas, Venezuela.
1991: "Learning Control of Robot Manipulators," INTEVEP, Venezuela, January 1991. Invited lecture.
1990: "Learning Control of Robot Manipulators," Department of Mechanical Engineering, M.I.T., November 1990. Invited lecture.
1990: "Design Fabrication and Control of a Linear Electrostatic Microactuator," (with Roger Howe), DEC, Shrewsbury, MA, November 1990. Invited lecture.
1990: "Learning Control of Robot Manipulators Parts I-II," Department of Systems Engineering, School of Physical Science, The Australian National University, Canberra, Australia, June 1990. Invited lecture.
1990: "Robotics Research at the University of California at Berkeley," Renault Automation Paris, France, April 1990. Invited lecture.
1990: "Motion Control of Robot Manipulators," Renault Automation Paris France, April 1990. Invited lecture.
1990: "Learning Control of Robot Manipulators," Renault Automation Paris France, April 1990.
1990: "Learning Control of Robot Manipulators," Politecnic University of Cataluna, Barcelona, Spain, April 1990. Invited lecture.
1990: "Learning Control of Robot Manipulators," Laboratoire d'Automatique de Grenoble, Grenoble, France, April 1990. Invited lecture.
1990: "Self Tuning Control of Disk File Servos," 2nd Storage Research Center Faculty Meeting, IBM, San Jose, January 11-12, 1990.
1989: Ädaptive Control of Disk File Actuators," IBM, San Jose California, August 10, 1989.
1989: Ädaptive Control of Disk File Actuators," IBM, San Jose California, March 7, 1989.
1989: "Control of Compound Disk File Actuators," IBM, Tucson Arizona, February 28, 1989.
1989: Ä Robust Adaptive Servo," Department of Systems Engineering, School of Physical Science, The Australian National University, Canberra, Australia, July 1988.
1988: Ädaptive Control of Robot Manipulators," Department of Systems Engineering, School of Physical Science, The Australian National University, Canberra, Australia, July 1988.
1988: "Control of Compound Disk File Actuators," IBM, San Jose, March 18, 1988
1988: "Control of Compound Disk File Actuators," DEC, Colorado Springs, Colorado, April 15, 1988
1987: "Control of Compound Disk File Actuators," IBM, Tucson Arizona September 1, 1987
1987: "Control of Compound Disk File Actuators," IBM, San Jose, April 1, 1987
1985: "Servo Control for Mechanical Engineers," IBM, San Jose, California, April 18,19, 1985, with M. Tomizuka and D. M. Auslander.
1984: Äpplications of Model Reference Adaptive Systems in Motion Control Systems," University of Minnesota, Department of Electrical Engineering, May 16, 1984.
1983: Ädaptive Control Systems - Design and Applications," University Extension, University of California, May 1983, with Y. Landau and M. Tomizuka.

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