ROBERTO HOROWITZ

BIBLIOGRAPHY

1Refereed Publications

1.1Archival Journals

1 R. Horowitz and M. Tomizuka, \An Adaptive Control Scheme for Mechanical Ma- nipulators { Compensation of Nonlinearity and Decoupling Control," ASME Journal of Dynamic Systems, Measurement and Controls, Vol 108, No 2, pp. 127-135. June, 1986. (PDF File)

2M. Tomizuka, R. Horowitz, G. Anwar and Y. L. Jia, \Implementation of Adaptive Techniques for Motion Controls of Robotic Manipulators" ASME Journal of Dynamic Systems, Measurement and Controls, Vol 110, No 1, pp. 62-69. March, 1988.

3N. Sadegh and R. Horowitz, \A Robust Discrete Time Adaptive Servo" ASME Jour- nal of Dynamic Systems, Measurement and Controls, Vol 110, No 2, pp. 189-196, June 1988. (PDF File)

4R. Horowitz, H. Stevens and G. Leitmann, \Experimental Implementation of a De- terministic Controller for a D.C. Motor with Uncertain Dynamics," ASME Journal of Dynamic Systems, Measurement and Controls, Vol. 111, No 2., pp. 244-252, June 1989.

5 I. D. Landau, and R. Horowitz, \Synthesis of Adaptive Controllers for Robotic Manipulators using a Passive Feedback Systems Approach," International Journal of Adaptive Control and Signal Processing, Vol. 3, pp 23-38, 1989.

6N. Sadegh, and R. Horowitz, \Stability and Robustness Analysis of a Class of Adap- tive Controllers for Robotic Manipulators," International Journal of Robotics Research, Vol. 9, No. 3, pp 74-92, June 1990. (PDF File)

7J.Y. Yen, K. Hallamasek, and R. Horowitz, \Track Following Controller Design for a Compound Disk Drive Actuator," ASME Journal of Dynamic Systems, Measurement and Controls, Vol. 112, Num. 3, pp 391-402, September 1990. (PDF File)

8 T.T. Tay, J.B. Moore and R. Horowitz, \Indirect Adaptive Techniques for Fixed Controller Performance Enhancement," International Journal of Control, Vol. 5, pp 1941-1959, 1989. (PDF File)

9K. Hallamasek and R. Horowitz, \Comments on Minimizing Power Dissipation in a Disk File Actuator," IEEE Transactions on Magnetics., Vol. 25, No 5, pp 4353-4354, September 1989.

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10 N. Sadegh, R. Horowitz, W-W. Kao and M. Tomizuka, \A Uni￿ed Approach to the Design of Adaptive and Repetitive Controllers for Robotic Manipulators," ASME Journal of Dynamic Systems, Measurement and Controls, Vol. 112, No 4, pp. 618-629, December 1990. (PDF File)

11J. McCormick and R. Horowitz, \Time Optimal Seek Trajectories for a Dual Stage Optical Disk Drive Actuator," ASME Journal of Dynamic Systems, Measurement and Controls. Vol. 113, No. 3, pp. 534-537, September 1991

12W. Messner, R. Horowitz, W-W. Kao and M. Boals, \A New Adaptive Learning Rule," IEEE Transactions on Automatic Control, Vol 36, No. 2, pp. 188-197, February 1991. (PDF File)

13N. Sadegh and R. Horowitz, \An Exponentially Stable Adaptive Control Law for Robot Manipulators," IEEE Transactions on Robotics and Automation , Vol. 6, Num. 4, pp 491-496, August 1990. (PDF File)

14R. Horowitz, W. Messner and J. B. Moore, \Exponential Convergence of a Learning Controller for Robot Manipulators," IEEE Transactions on Automatic Control, Vol 36, No. 7, pp. 890-894, July 1991. (PDF File)

15R. Horowitz and J. McCormick, \A Self-Tuning Control Scheme for Disk File Servos," IEEE Transactions on Magnetics, Vol 27, No. 6, pp. 4490-4495, November 1991. (PDF File)

16J. B. Moore, R. Horowitz and W. Messner, \Functional Persistence of Excitation and Observability in Learning Control Systems," ASME Journal of Dynamic Systems, Measurement and Controls, Vol. 114, No. 3, pp. 500-507, September 1992. (PDF File)

17A.D.B. Paice, J.B. Moore and R. Horowitz, \Nonlinear Feedback System Stability via Coprime Factorization Analysis," Journal of Mathematical Systems, Estimation and Control, Vol 2, No 3, pp 293-321, 1992.

18J.E. Perkins, I.M.Y. Mareels, J.B. Moore and R. Horowitz, \Functional Learning in Signal Processing via Least Squares," International Journal of Adaptive Control and Signal Processing, Vol 6, pp. 481-498, 1992.

19R. Horowitz, \Learning Control of Robot Manipulators," ASME Journal of Dynamic Systems Measurement and Control, Vol. 115 No. 2B, pp. 402-411, June 1993.

20C. Kempf, W. Messner, M. Tomizuka and R. Horowitz, \A Comparison of Four Discrete-Time Repetitive Control Algorithms," IEEE Control Systems Magazine, Dec. 1993.

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21W. Messner and R. Horowitz, \Identi￿cation of a Nonlinear Function in a Dynamical System," ASME Journal of Dynamic Systems, Measurement and Controls, Vol. 115, No 4. Dec. 1993.

22P. Cheung, R. Horowitz and R. Howe, \Design, Fabrication, Position Sensing, and Control of an Electrostatically-driven Polysilicon Microactuator," IEEE Transactions on Magnetics, Vol.32, No. 1, pp 122-128, January 1996.

23R. Horowitz and B. Li, \Adaptive Track-Following Servos for Disk File Actuators," IEEE Transactions on Magnetics, Vol.32, No. 3, May 1996.

24K. Kaneko and R. Horowitz, \Repetitive and Adaptive Control of Robot Manipula- tors with Velocity Estimation," IEEE Transactions on Robotics and Automation, Vol. 13, No. 1, April 1997. (PDF File)

25J. Frankel, L. Alvarez, R. Horowitz, and P. Li, \Safety-Oriented Maneuvers for IVHS," Journal Vehicle Systems Dynamics, Vol. 26, No 4, , pp. 271-299, October 1996.

26P. Li, R. Horowitz L. Alvarez, J. Frankel and A. M. Robertson, \An AHS Link Layer Controller for Tra￿c Flow Stabilization," Transportation Research Part C: Emerging Technologies, Vol. 5, No. 1, pp. 11-37, 1997. (PDF File)

27P. Li, L. Alvarez and R. Horowitz \AVHS Safe control laws for platoon leaders," IEEE Transactions on Control Systems and Technology, Vol. 5, No. 6, pp. 614-628, 1997. (PDF File)

28R. Horowitz, B. Li and J. McCormick, \Wiener Filter Based Minimum Variance Self-tuning Regulation," Automatica, vol.34, no.5, May 1998, pp.531-45. (PDF File)

29P. Li, and R. Horowitz, \Control of Smart Exercise Machines Part I: Problem For- mulation and Non-Adaptive Control," IEEE/ASME Transactions on Mechatronics, Special Issue on Human Friendly Mechatronics. Vol 2. Number 4, Dec. 1997. (PDF File)

30P. Li, and R. Horowitz, \Control of Smart Exercise Machines Part II: Self-Optimizing Control," IEEE/ASME Transactions on Mechatronics, Special Issue on Human Friendly Mechatronics. Vol 2. Number 4, Dec. 1997. (PDF File)

31D. Horsley, M., A. Singh, R. Horowitz and A.P. Pisano, \Design and Fabrication of an Angular Micropositioner for Magnetic Disk Drives." IEEE/ASME Journal of Micro-electromechanical Systems (JMEMS) vol.7, no.2, June 1998, pp.141-8. (PDF File)

32P. Li and R. Horowitz, \Passive Velocity Field Control of Mechanical Manipulators," IEEE Transactions on Robotics and Automation. Vol. 15, No. 4, pp.751-63. August 1999. (PDF File)

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33T. Hirano, L-S. Fan, W.Y. Lee, J. Hong, W. Imaino, S. Pattanaik, S. Chan, P. Webb, R. Horowitz, S. Aggarwal and D. Horsley, \High Bandwidth, High Accuracy Rotary Micro-actuator for the Tracking servo of a Hard-disk Drive," IEEE/ASME Transac- tions on Mechatronics, focused section on Mechatronics for Disk File Storage Systems. Vo. 3, No. 3, pp. 156-166, September 1998. (PDF File)

34D. Horsley, R. Horowitz and A.P. Pisano, \Microfabricated Electrostatic Actuators for Hard Disk Drives." IEEE/ASME Transactions on Mechatronics, focused section on Mechatronics for Disk File Storage Systems. Vo. 3, No. 3, pp. 175-183, September 1998. (PDF File)

35C.-G. Kang, R. Horowitz and G. Leitmann, \Tracking Control of Robot Manipulators Using a Robust Deterministic Control Law." ASME Journal of Dynamic Systems, Measurement and Control, Vol. 120, No 4, pp 537-541. December 1998.

36S.S. Pannu and R. Horowitz, \Increase Disturbance Rejection for Hard Disk Drives using Accelerometers," Journal of Information Storage and Processing Systems (JISPS). vol.1, no.1, pp.95-103, Jan. 1999.

37D. Horsley, N. Wongkomet, R. Horowitz and A.P. Pisano, \Precision Positioning using a Microfabricated Electrostatic Actuator." IEEE Transactions on Magnetics, Vol. 35, No. 2, pp. 993-999, March 1999. (PDF File)

38L. Alvarez and R. Horowitz \Safe Platooning in Automated Highway Systems. Part I: Safety Regions Design," Vehicle System Dynamics Special Issue: IVHS, Vol. 32, No. 1, pp 23-56, July 1999. (PDF File)

39L. Alvarez and R. Horowitz \Safe Platooning in Automated Highway Systems. Part II: Velocity Tracking Controller," Vehicle System Dynamics Special Issue: IVHS, Vol. 32, No. 1, pp 57-84, July 1999. (PDF File)

40L. Alvarez, R. Horowitz and P. Li. \Tra￿c Flow Control in Automated Highway Systems," IFAC Journal of Control Engineering Practice, vol. 7, no. 9, pp.1071-8, Sept. 1999.

41R. Horowitz, P. Li and J. Shields, \Control of Self-optimizing Exercise Machines." IFAC Annual reviews in Control, Vol. 24, No. 1, pp. 201-213. 2000. (PDF File)

42R. Horowitz, and P. Varaiya, \Control Design of an Automated Highway System." Proceedings of the IEEE: Special Issue on Hybrid Systems, vol.88, no.7, pp. 913-25, July 2000. (PDF File)

43M. Kobayashi and R. Horowitz,\Track Seek Control for Hard Disk Dual-Stage Servo Systems." IEEE Transactions on Magnetics, vol.37, no.2, pt.1, pp.949-54, March 2001. (PDF File)

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44L. Alvarez, C. Toy and R. Horowitz. \Multi-destination tra￿c ￿ow control in auto- mated highway systems." Transportation Research Transportation Research Part C - Emerging Technologies, vol.11C, no.1, pp.1-28, Feb. 2003. (PDF File)

45Y. Li and R. Horowitz. \Mechatronics of Electrostatic Microactuators for Computer Disk Drive Dual-Stage Servo Systems". IEEE/ASME Transactions on Mechatronics. Vol. 6, No. 2, pp.111-21. June 2001. (PDF File)

46P. Li and R. Horowitz, \Passive Velocity Field Control: Part I - Geometry and Robustness," IEEE Transactions on Automatic Control.Vol. 46, No. 9, pp. 1346- 1359, September 2001. (PDF File)

47P. Li and R. Horowitz, \Passive Velocity Field Control: Part II - Application to Contour Following," IEEE Transactions on Automatic Control.Vol. 46, No. 9, pp. 1360-1371, September 2001. (PDF File)

48Toy, C.; Alvarez, L.; Horowitz, R. \Nonstationary velocity pro￿les for emergency vehicles on automated highways." Journal of Dynamic Systems, Measurement and Control. vol.124, no.1, March 2002, pp.133-40. (PDF File)

49Yang Zhao; Minyao Mao; Horowitz, R.; Majumdar, A.; Varesi, J.; Norton, P.; Kitching, J. \Optomechanical uncooled infrared imaging system: design, microfab- rication, and performance." Journal of Microelectromechanical Systems, IEEE, vol.11, no.2, pp.136-46, April 2002. (PDF File)

50Yi, J.; Alvarez, L.; Horowitz, R. \Adaptive emergency braking control with under- estimation of friction coe￿cient." IEEE Transactions on Control Systems Technology, vol.10, (no.3), pp.381-92, May 2002. (PDF File)

51Y. Li and R. Horowitz, \Design and testing of track-following controllers for dual- stage servo systems with PZT actuated suspensions," Microsystem Technologies Vol- ume 8 Issue 2-3, pp. 194-205. Springer-Verlag. May, 2002. (PDF File)

52C. Toy, K. Leung, L. Alvarez and R. Horowitz. \Emergency Vehicle Maneuvers and Control Laws for Automated Highway Systems," IEEE Transactions on Intelligent Transportation Systems. Volume 3, No. 2, pp.109-19. June 2002. (PDF File)

53Tsung-Lin Chen, Yunfeng Li, Oldham, K., and Horowitz, R., \MEMS applications in computer disk drive dual-stage servo systems," Journal of the Society of Instrument and Control Engineers, Special Issue on Mass Storage Control Technologies, Vol.41, (No.6), Soc. Instrum. & Control Eng. (Japan), pp. 412-420. June 2002.

54Xiaotian Sun, Roberto Horowitz, and Kyriakos Komvopoulos, Stability and reso- lution analysis of a phase-locked loop natural frequency tracking system for MEMS fatigue testing, Journal of Dynamic Systems, Measurement, and Control, vol. 124, no. 4, pp.599- 605, December 2002. (PDF File)

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55Yi, J.; Alvarez, L.; Claeys, X. and Horowitz, R. \Emergency Braking Control with an Observer-Based Dynamic Tire/Road friction Model and Wheel Angular Velocity Measurement." Vehicle System Dynamics, Vol. 39, No. 2, pp. 81-97, 2003. (PDF File)

56J. Yi, H. Lin, L. Alvarez and R. Horowitz. \Stability of Macroscopic Tra￿c Flow Modelling Through Wavefront Expansion." Transportation Research Part B: Method- ological, 37 (2003) pp. 661-679, 2003. (PDF File)

57S. Park and R. Horowitz. \Adaptive Control for the Conventional Mode of Operation of MEMS Gyroscopes." Journal of Microelectromechanical Systems. Vol. 12, No. 1, pp. 101-108, February 2003. (PDF File)

58Y. Li, R. Horowitz, R. Evans. \Vibration Control of a PZT Actuated Suspension Dual-Stage Servo System Using a PZT Sensor". IEEE Transactions on Magnetics, Vol.39, No. 2, pp.932-7, March 2003. (PDF File)

59J. Choi, J. Yamaguchi, S. Morales, R. Horowitz Y. Zhao and A. Majumdar, \Design and control of a thermal stabilizing system for a MEMS optomechanical uncooled infrared imaging camera," Sensor and Actuators Part A - Physical, 104, pp. 132-142, 2003. (PDF File)

60Keitaro Ohno and Roberto Horowitz, \A Variable Structure Multi-rate State Esti- mator and Its Application to Seeking Control of HDDs," \Transactions of the Society of Instrument and Control Engineers (in Japanese), Vol. 39, No. 7, 2003.

61S. Park and R. Horowitz. \New Adaptive Mode of Operation for MEMS Gyro- scopes." ASME Journal of Dynamic Systems, Measurement and Control, vol.126, no.4, pp.800-10, Dec. 2004. (PDF File)

62Gabriel Gomes, Adolf May and Roberto Horowitz. \Congested Freeway Microsim- ulation Model Using VISSIM." Transportation Research Record: Journal of the Trans- portation Research Board, No. 1876, pp. 71-81, 2004. (PDF File)

63S. Park and R. Horowitz. \Discrete Time Adaptive Control for a MEMS Gyroscope." International Journal of Adaptive Control and Signal Processing, vol.19, no.6, pp. 485- 503, Aug. 2005. (PDF File)

64S.-H. Lim, J. Choi, R Horowitz, and A. Majumdar. \Design and Fabrication of a Novel Bimorph Micro-Opto-Mechanical Sensor." Journal of Microelectromechanical Systems, vol.14, no.4, pp.683-90, Aug. 2005.

(PDF File)

65K. Ohno and R. Horowitz, \A Variable Structure Multi-rate State Estimator and Its Application to Seeking Control of HDDs," IEEE Transactions on Control Systems Technology. Vol.13, no.2, pp.233-45, March 2005. (PDF File)

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66K. Ohno, M. Hirata and R. Horowitz, \A Comparative Study of the Use of the Gen- eralized Hold Function for HDDs," IEEE/ASME Transactions on Mechatronics,vol.10, no.1, pp.26-33, Feb. 2005. (PDF File)

67Xinghui Huang and Horowitz R. \Robust controller design of a dual-stage disk drive servo system with an instrumented suspension." IEEE Transactions on Magnetics, vol.41, no.8, pp.2406-13, Aug. 2005. (PDF File)

68Alvarez L, Jingang Yi, Horowitz R, Olmos L. \Dynamic friction model-based tire- road friction estimation and emergency braking control." ASME Journal of Dynamic Systems Measurement and Control, vol.127, no.1, pp.22-32, March 2005. (PDF File)

69K. Ohno and R. Horowitz, \A pivot nonlinearity compensation by use of variable structure estimator for hard disk drives," Microsystem Technologies. Springer-Verlag GmbH, Volume 11, no. 8-10, pp. 702-710, August 2005. (PDF File)

70Xinghui Huang, Horowitz R and Yunfeng Li. \Track-following control with active vi- bration damping and compensation of a dual-stage servo system." Microsystems Tech- nologies. Springer-Verlag GmbH, Vol. 11, No. 12, pp.1276-1286, Nov. 2005. (PDF File)

71Raymond de Callafon, Ryozo Nagamune and Roberto Horowitz, \Robust Dynamic Modeling and Control of Dual-Stage Actuators." IEEE Transactions on Magnetics, vol.42, no.2, pp. 247-54, Feb. 2006. (PDF File)

72Xinghui Huang, Ryozo Nagamune and Roberto Horowitz, \A Comparison of Multi- rate Robust Track-Following Control Synthesis Techniques for Dual-Stage and Multi- Sensing Servo Systems in Hard Disk Drives." IEEE Transactions on Magnetics, vol.42, no.7, pp. 1896-904, July 2006. (PDF File)

73S.-H. Lim, R Horowitz, and A. Majumdar. \Modeling and performance of two types of piston-like out-of-plane motion micromechanical structures." Journal of Microme- chanics and Microengineering, Volume 16, Number 7, July 2006.

(PDF File)

74Xinghui Huang, Horowitz R and Yunfeng Li. \Comparative Study of MEMS Microac- tuators for Use in a Dual-stage Servo with an Instrumented Suspension." IEEE/ASME Transactions on Mechatronics vol.11, no.5, pp. 524-32, Oct. 2006. (PDF File)

75Jingang Yi and Roberto Horowitz,\Macroscopic Tra￿c Flow Propagation Stability for Adaptive Cruise Controlled Vehicles." Transportation Research, Part C, vol.14, no.2, pp. 81-95, April 2006. (PDF File)

76Yunfeng Li, Federico Marcassa, Horowitz R. and Roberto Oboe, \Track-Following Control with Active Vibration Damping of a PZT-Actuated Suspension Dual-Stage Servo System." ASME Journal of Dynamic Systems, Measurement and Control, vol.128, no.3, pp. 568-76, Sept. 2006. (PDF File)

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77 Laura Mu~noz, Xiaotian Sun, Roberto Horowitz and Luis Alvarez,\A Piecewise- Linearized Cell Transmission Model and Parameter Calibration Methodology." Trans- portation Research Records (TRR), the Journal of the Transportation Research Board No. 1965, pp. 183-191, 2006 . (PDF File)

78 Xiaotian Sun and Roberto Horowitz, \A Set Of New Tra￿c-Responsive Ramp- Metering Algorithms And Microscopic Simulation Results." Transportation Research Records (TRR), the Journal of the Transportation Research Board No. 1959 pp. 9-18, 2006. (PDF File)

79Roberto Horowitz, Yunfeng Li, Kenn Oldham, Stanley Kon and Xinhui Huang.\Dual- Stage Servo Systems and Vibration Compensation in Computer Hard Disk Drives." IFAC Journal of Control Engineering Practice, vol.15, no.3, pp. 291-305, March 2007. (PDF File)

80Gabriel Gomes and Roberto Horowitz. \Optimal freeway ramp metering using the asymmetric cell transmission model." Transportation Research C: Emerging Technolo- gies. vol.14, no.4, pp. 244-62, Aug. 2006. (PDF File)

81Ryozo Nagamune, Xinghui Huang and Roberto Horowitz. \Robust Control Synthe- sis Techniques for Multirate and Multi-sensing Track-following Servo Systems in Hard Disk Drives." Accepted for publication in the ASME Journal of Dynamic Systems Measurement and Controls. (2006) (PDF File)

82Conway R, Felix S and Horowitz R., \Model reduction and parametric uncertainty identi￿cation for robust control synthesis for dual-stage hard disk drives." IEEE Trans- actions on Magnetics, vol.43, no.9, Sept. 2007, pp. 3763-8. (PDF File)

83Sungsu Park, Horowitz R., Sung Kyung Hong and Yoonsu Nam. \Trajectory- switching algorithm for a MEMS gyroscope." IEEE Transactions on Instrumentation and Measurement, vol.56, no.6, Dec. 2007, pp. 2561-9. (PDF File)

84Sungsu Park, Horowitz R. and Chin-Woo Tan. \Dynamics and control of a MEMS angle measuring gyroscope." Sensors and Actuators: A. Physical, vol.144, no.1, 28 May 2008, pp. 56-63 (PDF File)

85Gomes G, Horowitz R., Kurzhanskiy AA, Varaiya P and Jaimyoung Kwon. \Behav- ior of the cell transmission model and e￿ectiveness of ramp metering." Transportation Research Part C: Emerging Technologies, vol.16, no.4, Aug. 2008, pp. 485-513. (PDF File)

86Kon S and Horowitz R.. \A high-resolution MEMS piezoelectric strain sensor for structural vibration detection." IEEE Sensors Journal, vol.8, no.12, pp. 2027-35, Dec. 2008. (PDF File)

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87 Jongeun Choi, Ryozo Nagamune and Roberto Horowitz. \Multiple robust track- following controller design in hard disk drives" International Journal of Adaptive Con- trol and Signal Processing. v 22, n 4, pp 359-373, May 2008. (PDF File)

88 Muralidharan, A. and Horowitz R.. \Imputation of Ramp Flow Data for Freeway Tra￿c Simulation", Transportation Research Record (TRR), the Journal of the Trans- portation Research Board. No. 2099, pp. 58-64. Sept. 2009. (PDF File)

89 Sarah Felix, Jianbin Nie, and Roberto Horowitz, \Enhanced Vibration Suppres- sion in Hard Disk Drives Using Instrumented Suspensions." IEEE Transactions On Magnetics, Vol. 45, No. 11, pp. 5118-5122, November 2009. (PDF File)

90E. Ergueta, R. Sanchez, Horowitz R. and M. Tomizuka, \Convergence Analysis of a Steerable Nips Mechanism for Full Sheet Control in Printing Devices." ASME Journal of Dynamic Systems Measurement and Control. Vol. 132, No. 1, pp: 011008-1-9, Jan. 2010. (PDF File)

91R. Sanchez, Horowitz R. and M. Tomizuka, \Full Sheet Control Using Steerable Nips." IEEE/ASME Transaction on Mechatronics. Vol. 15 , Issue 1, pp. 48-58, Feb. 2010. (PDF File)

92Conway R. and Horowitz R., \Guaranteed Cost Control for Linear Periodically Time- Varying Systems with Structured Uncertainty and a Generalized H2 Objective." IFAC Journal of Mechatronics, vol. 20, no. 1, pp. 12-19, February 2010. (PDF File)

93Edgar I. Ergueta; Robert Seifried; Roberto Horowitz, "A Robust Approach to Dy- namic Feedback Linearization for a Steerable Nips Mechanism." ASME Journal of Dynamic Systems Measurement and Controls 133(2), 021007. February 2011. (PDF File)

94Jongeun Choi, Songhwai Oh and Roberto Horowitz. \Distributed Learning and Cooperative Control for Multi-Agent Systems." Automatica. Volume 45, Issue 12, pp 2802-2814, December 2009. (PDF File)

95Jongeun Choi, and Roberto Horowitz. \Learning Coverage Control of Mobile Sens- ing Agents in One-Dimensional Stochastic Environments." IEEE Transactions on Au- tomatic Control, Vol. 55, No. 3, pp. 804-809, March 2010. (PDF File)

96Richard Conway, Jongeun Choi, Ryozo Nagamune, and Roberto Horowitz. \Robust Track-Following Controller Design in Hard Disk Drives Based on Parameter Dependent Lyapunov Functions." IEEE Transactions on Magnetics, Vol. 46, No. 4 pp. 1060-1068, April 2010. (PDF File)

97Rene O. Sanchez, Roberto Horowitz and Pravin Varaiya . \Analysis of Queue Esti- mation Methods Using Wireless Magnetic Sensors." Transportation Research Record: Journal of the Transportation Research Board, Vol. 2229, No. 4 pp. 34-45, Sept. 2011. (PDF File)

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98 Xiao-Yun Lu, Pravin Varaiya, Roberto Horowitz, Dongyan Su, and Steven E. Shladover. \Novel Freeway Tra￿c Control with Variable Speed Limit and Coordinated Ramp Metering." Transportation Research Record: Journal of the Transportation Re- search Board, No. 2229, pp. 55-65. Sept. 2011. (PDF File)

99Ajith Muralidharan, Gunes Dervisoglu, and Roberto Horowitz. \Probabilistic Graph- ical Models of Fundamental Diagram Parameters for Simulations of Freeway Tra￿c." Transportation Research Record: Journal of the Transportation Research Board, No. 2249, pp. 78-85. Dec. 2011. (PDF File)

100Jianbin Nie, Edgar Sheh, and Roberto Horowitz, \Optimal H1 Control Design and Implementation of Hard Disk Drives With Irregular Sampling Rates," IEEE Transac- tions on Control Systems Technology, Vol. 20, No. 2, pp. 402-7 March 2012 (PDF File)

101Jianbin Nie, Richard Conway, and Roberto Horowitz, \Optimal H1 Control for

Linear Periodically Time-Varying Systems in Hard Disk Drives," IEEE/ASME Trans-

actions on Mechatronics, vol. 18, no. 1, pp. 212-220, February 2013. (PDF File)

102 Xiao-Yun Lu, Pravin Varaiya, Roberto Horowitz, Zhaomiao Guo, and Joe Palen. \Estimating Tra￿c Speed with Single Inductive Loop Event Data." Transportation Research Record: Journal of the Transportation Research Board, No. 2308, pp. 157166. Feb. 2013. (PDF File)

103Sarah Felix and Roberto Horowitz. \Integration of Thin Film Strain Sensors Into Hard Drives for Active Feedback Vibration Suppression." IEEE Sensors Journal, Vol. 13, No. 5, May 2013. (PDF File)

104B. Shahsavari, R. Conway, E. Keikha, F. Zhang, and R. Horowitz, \Robust Track- Following Controller Design for Hard Disk Drives with Irregular Sampling," IEEE Transactions on Magnetics 49, no. 6, June 2013. (PDF File)

105Cheng-Ju Wu, Thomas Schreiter, Roberto Horowitz and Gabriel Gomes, \Fast Boundary Flow Prediction for Tra￿c Flow Models using Optimal Autoregressive Mov- ing Average with Exogenous Inputs (ARMAX) Based Predictors." Accepted for publi- cation in the Transportation Research Record: Journal of the Transportation Research Board. (March 2014). (PDF File)

106Dongyan Su, Xiao-Yun Lu, Roberto Horowitz and Zhongren Wang. \Coordinated Ramp Metering and Intersection Signal Control." International Journal of Transporta- tion Science and Technology, Vol. 3, No. 2, pp. 179-19. 2014. (PDF File)

107Xiao-Yun Lu, Tony Z. Qiub, Roberto Horowitz, Andy Chow and Steven Shladover. \METANET Model Improvement for Tra￿c Control." International Journal of Trans- portation Science and Technology, 2014. (PDF File)

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108 Behrooz Shahsavari, Ehsan Keikha, Fu Zhang, and Roberto Horowitz, \Adaptive repetitive control design with online secondary path modeling and application to bit- patterned media recording." IEEE IEEE Transactions on Magnetics VOL. 51, NO. 4, pp. 9401108, April 2015. (PDF File)

109Ajith Muralidharan and Roberto Horowitz, \Computationally e￿cient model pre- dictive control of freeway networks." Transportation Research Part C: Emerging Tech- nologies Volume 58, Part C, pp. 532-553, September 2015. (PDF File)

110De Nunzio, G.; Gomes, G.; Canudas-de-Wit, C., Horowitz, R. and Moulin, P., \Speed Advisory and Signal O￿sets Control for Arterial Bandwidth Maximization and Energy Consumption Reduction." IEEE Transactions on Control Systems Technology, VOL. 25, NO. 3, May 2017. (PDF File)

111Matthew A. Wright, Gabriel Gomes, Roberto Horowitz end Alex A. Kurzhanskiy, `On node models for high-dimensional road networks." Transportation Research Part

B:Methodological, Vol 105, pp. 212-234, Nov. 2017. (PDF File)

112Matt Wright and Roberto Horowitz, \Fusing Loop and GPS Probe Measurements to Estimate Freeway Density." IEEE Transactions on Intelligent Transportation Systems, Vol 17, NO 12, pp. 3577-90, Dec. 2017. (PDF File)

1.2Conference and Symposium Proceedings

1R. Horowitz and M. Tomizuka, \An Adaptive Control Scheme for Mechanical Ma- nipulators { Compensation of Nonlinearity and Decoupling Control," ASME Winter Annual Meeting, Paper No #80-WA/DSC-6, Chicago, December, 1980.

2 R. Horowitz and M. Tomizuka, "Discrete Time Model Reference Adaptive Con- trol of Mechanical Manipulators,\ Computers in Engineering, 1982, Vol 2, Robots and Robotics, ASME, NY, 1982 pp. 107-112.

3 M. Tomizuka and R. Horowitz, "Applications of Model Reference Adaptive Con- trol Techniques to Mechanical Manipulators,\ Outils et Modeles Mathematiques pour L'Automatique, L'Analyse de Systemes et le Traitement du Signal, Vol. 3, CNRS, Paris, 1983, pp. 861-880.

4M. Tomizuka, A. Jabbari, R. Horowitz, D. M. Auslander and M. Denome, "Modeling and Identi￿cation of Mechanical Systems with Nonlinearities,\ in Proceedings of 8th IFAC Symposium on Identi￿cation and System Parameter Estimation, University of York, U.K., July, 1985.

5N. Sadegh and R. Horowitz, "A Robust Discrete Time Adaptive Servo\ in Dynamic Systems: Modelling and Control, Edited by M. Donath, ASME DSC-Vol 1., Winter Annual Meeting, pp. 25-34, November 1985.

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6G. Anwar, M. Tomizuka, R. Horowitz, and T. Kubo "Experimental Study on Dis- crete Time Adaptive Control of an Industrial Robot Arm,\ in 2nd IFAC Workshop on Adaptive Systems in Control and Signal Processing, Lund, Sweden, pp. 119-124, July 1986.

7M. Tomizuka, R. Horowitz and G. Anwar "Adaptive Techniques for Motion Controls of Robotic Manipulators\ in Japan - USA Symposium on Flexible Automation, July 1986, Osaka, Japan.

8 R. Horowitz and D. Kim, "A Trajectory Generation Algorithm for Straight Line Motion in the Cartesian Space,\ in Japan - USA Symposium on Flexible Automation, July 1986, Osaka, Japan.

9 N. Sadegh, and R. Horowitz, "Stability Analysis of an Adaptive Controller for Robotic Manipulators,\ in IEEE International Conference on Robotics and Automa- tion, pp.1223,1239. Raleigh, North Carolina, March, 1987.

10 R. Horowitz, M-C. Tsai, G. Anwar and M. Tomizuka) "Model Reference Adap- tive Control of a Two Axis Direct Drive Arm,\ in IEEE International Conference on Robotics and Automation, pp.1216, 1223, Raleigh, North Carolina, March, 1987.

11R. Horowitz, H. Stevens and G. Leitmann, "Experimental Veri￿cation of a Determin- istic Controller for a D.C. Motor with Uncertain Dynamics,\ Proceeding of the 1987 American Control Conference, pp. 1900, 1907 Minneapolis Minnesota, June 1987.

12I. D. Landau, and R. Horowitz, "Synthesis of Adaptive Controllers for Robotic Ma- nipulators using a Passive Feedback Systems Approach,\ in IEEE International Con- ference on Robotics and Automation, pp. 1028-1033, Philadelphia, Pennsylvania, April 1988.

13G. Anwar, R. Horowitz and M. Tomizuka, "Implementation of a MRAC for a Two Axis Direct Drive Robot Manipulator Using a Digital Signal Processor,\ Proceeding of the 1988 American Control Conference, pp. 658-660 Atlanta, GA, June 1988 (Invited paper).

14D. M. Auslander, and R. Horowitz, "Mechanical Engineering Control System Cur- riculum,\ Proceeding of the 1988 American Control Conference, pp. 1151-1156. At- lanta, GA, June 1988.

15N. Sadegh, R. Horowitz, W-W. Kao and M. Tomizuka, "A Uni￿ed Approach to the Design of Adaptive and Repetitive Controllers for Robotic Manipulators,\ Proceedings of the USA - Japan Symposium on Flexible Automation, Minneapolis Minnesota, pp. 223-231, July 1988.

16J.Y. Yen, K. Hallamasek, and R. Horowitz, "Track Following Controller Design for a Compound Disk Drive Actuator,\ ASME Winter Annual Meeting, Chicago Illinois, December 1988.

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17 C.G. Kang, W.W. Kao, M. Boals and R. Horowitz, "Modeling Identi￿cation and Simulation of a Two Link Scara Manipulator,\ in Symposium on Robotics, edited by K. Youcef-Toumi and H. Kazerooni, pp. 393-407. ASME Winter Annual Meeting, Chicago Illinois, December 1988.

18A. Morando, R. Horowitz, and N. Sadegh, "Digital Implementation of Adaptive Con- trol Algorithms for Robot Manipulators,\ IEEE International Conference on Robotics and Automation, pp. 1656-1662, May 1989.

19R. Horowitz, W.W. Kao, M. Boals and N. Sadegh, "Digital Implementation of Repet- itive Control Algorithms for Robot Manipulators,\ IEEE International Conference on Robotics and Automation, pp. 1497-1503, May 1989.

20W.W. Kao, R. Horowitz, M. Tomizuka and M. Boals, "Repetitive Control of a Two Degree of Freedom SCARA Manipulator,\ Proceedings of the 1989 American Control Conference, pp. 1484-1490, June 1989.

21C.G. Kang G. Leitmann and R. Horowitz, "Robust Deterministic Controller Design of a Two Degree of Freedom SCARA Manipulator,\ Proceedings of the 1989 American Control Conference, pp. 1457-1462, June 1989.

22C.G. Kang, R. Horowitz and G. Leitmann "Robust Deterministic Control for Robotic Manipulators with Uncertainties,\ Proceedings of the 1989 Korean Automatic Control Conference, 1989.

23J.Y. Yen and R. Horowitz, "Discrete Time H2 Loop Transfer Recovery,\ ASME 89-WA/DSC-35, ASME Winter Annual Meeting, San Francisco, CA, December 1989.

24W. Messner, R. Horowitz, W-W. Kao and M. Boals, "A New Adaptive Learning Rule,\ Proceedings of the 1990 IEEE International Conference on Robotics and Au- tomation, Cincinnati, OH, pp. 1522-1527, May 1990.

25N. Sadegh and R. Horowitz, "An Exponentially Stable Adaptive Control Law for Robot Manipulators,\ Proceedings of the 1990 American Control Conference. San Diego, CA, pp. 2771-2777, May 1990.

26J. McCormick and R. Horowitz, "Time Optimal Seek Trajectories for a Dual Stage Optical Disk Drive Actuator,\ Proceedings of the 1990 American Control Conference. San Diego, CA, pp. 2607-2610, May 1990.

27J. B. Moore, R. Horowitz and W. Messner, "Functional Persistence of Excitation and Observability,\ Proceedings of the 1990 American Control Conference. San Diego, CA, pp. 308-314, May 1990.

28R. Horowitz, W. Messner, J. B. Moore and W.-W. Kao, "Convergence Properties of Learning Controllers for Robot Manipulators,\ Proceedings of the 1990 Japan-USA Symposium on Flexible Automation, Kyoto, Japan, pp. 635-642, July 1990.

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29W. Messner and R. Horowitz, "Identi￿cation of a Nonlinear Function in a Dynamical System,\ ASME Winter Annual Meeting, Paper No. 90-WA/DSC-20, Dallas, TX, November, 1990.

30R. Horowitz and J. McCormick, "A Self-Tuning Control Scheme for Disk File Servos,\ in Adaptive and Learning Control, ed. N. Sadegh, ASME Winter Annual Meeting, Dallas, TX, November, 1990.

31C. G. Kang, R. Horowitz and G. Leitmann, "Robust Deterministic Control for Robotic Manipulators-Part I: Control in Advances in Robotics, ed. K. Youcef-Toumi and H. Kazerooni, ASME Winter Annual Meeting, pp. 171-178, Dallas, TX, November, 1990.

32C. G. Kang, R. Horowitz and G. Leitmann, "Robust Deterministic Control for Robotic Manipulators-Part Application to Robot,\" in Advances in Robotics, ed. K. Youcef-Toumi and H. Kazerooni, ASME Winter Annual Meeting, pp. 179-186, Dallas, TX, November, 1990.

33R. Horowitz and W. Messner, \Learning Optimal Control Using Integral Equations," Proceedings of the 1991 American Control Conference, Boston, MA, June 1991.

34A.D.B. Paice, J.B. Moore and R. Horowitz, \Nonlinear Feedback System Stability via Coprime Factorization Analysis," Proceedings of the 1992 American Control Con- ference, pp. 2147-2152, Chicago, June 1992.

35R. Horowitz and P. Li, \Multitask Robot Learning Control," Proceedings of the 1992 American Control Conference, Chicago, June 1992,

36W. Messner, C. Kempf, M. Tomizuka and R. Horowitz, \A Comparison of Four Discrete-Time Repetitive Control Algorithms," Proceedings of the 1992 American Con- trol Conference, Chicago, June 1992.

37J.E. Perkins, I.M.Y. Mareels, J.B. Moore and R. Horowitz, \Functional Learning in Signal Processing via Least Squares," Proc. of Internat. Symp. on Information and its Application, Hawaii, Dec 1990, pp 587-590.

38K. Kaneko and R. Horowitz, \Learning Control of Robot Manipulators with Velocity Estimation", Proceedings of the 1992 Japan-USA Symposium on Flexible Automation, pp. 828-836, San Francisco, CA, July 1992.

39K. Kaneko and R. Horowitz, \Implementation of Learning Control of Robot Manip- ulators with Velocity Estimation", Proceedings of the 1992 International Conference on Motion and Vibration Control, pp. 523-528, Yokohama, Japan, Sept. 1992.

40J. McCormick and R. Horowitz, \A Direct Adaptive Control Scheme for Disk File Servos," Proceedings of the 1993 American Control Conference, pp 346-351, San Fran- cisco CA, June 1993,

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41 R. Horowitz, J. McCormick and Bo Li, \Adaptive Control of Disk File Servos," Proceedings of the 1993 JSME International Conference on Advanced Mechatronics, Tokyo Japan, pp.718-724, August 1993,

42P. Li, J. Shields, and R. Horowitz, \Adaptive Control of an Exercise Machine." 15th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, San Diego, Oct. 28-31, 1993.

43P. Li, J. Shields, and R. Horowitz, \Self-tuning Control of an Exercise Machine." ASME Winter Annual Meeting, New Orleans, Nov, 1993.

44P. Li and R. Horowitz, \On Velocity Field Control of Mechanical Systems." IEEE Conference on Decision and Control, San Antonio, TX, Dec 14-17,1993.

45A Banos and R. Horowitz, \The Class of Nonlinear Plants Stabilized by a Linear Controller," Proceedings of the 1993 European Control Conference, pp. 2025-2029, Vol.4, June, 1993, Groningen,

46P. Cheung, R. Horowitz, and R. T. Howe, \Modeling and Position Detection of a Polysilicon Linear Microactuator," in Micromechanical Sensor, Actuators and Systems, Proceedings of the 1991 ASME Winter Annual Meeting, Vol. DSC-32, pp. 269-278, December 1991, Atlanta, GA.

47P. Li and R. Horowitz, \On the Optimizing-adaptive Control Problem," Proceedings of the 1994 American Control Conference, pp. 2170-2174, Baltimore, MD, June 1994.

48P. Li and R. Horowitz, \Passive Velocity Field Control of Mechanical Manipulators," IEEE International Conference on Robotics and Automation, pp. 2764-2770, Nagoya, Japan, May 1995.

49P. Li, R. Horowitz, L. Alvarez, J. Frankel, and A. Robertson, \Tra￿c Flow Stabi- lization," Proceedings of the 1995 American Control Conference, pp. 144-149, Seattle, WA, June 1995.

50J. Frankel, L. Alvarez, R. Horowitz, and P. Li, \Safety-Oriented Maneuvers for IVHS," Proceedings of the 1995 American Control Conference, pp. 668-672, Seattle, WA, June 1995.

51R. Horowitz and L. Alvarez, \Convergence Properties of Self-Organizing Neural Net- works," Proceedings of the 1995 American Control Conference, pp. 1339-1344, Seattle, WA, June 1995.

52R. Horowitz and B. Li, \Design and Implementation of Adaptive Non-repetitive Track-following Disk File Servos," Proceedings of the 1995 American Control Confer- ence, pp. 4161-4167, Seattle, WA, June 1995.

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53 P. Cheung, R. Horowitz, and R. T. Howe, \Position Sensing, and Control of an Electrostatically-driven Polysilicon Microactuator," ASME Micromechanical Systems Symposium, ICE95, San Francisco, CA, November 1995.

54 P. Cheung, R. Horowitz, and R. T. Howe, \Identi￿cation, Sensing, and Control of Polysilicon Microactuators," IEEE 34th Conference on Decision and Control (CDC95), pp. 3545-3550, New Orleans, Louisiana, December 1995.

55 R. Horowitz and B. Li, \Adaptive Control for Disk File Actuators," IEEE 34th Conference on Decision and Control (CDC95), pp. 655-660, New Orleans, Louisiana, December 1995.

56Li, P. and Horowitz, R., \Intelligent control of an exercise machine," Proceedings of the 4th International Workshop on Advanced Motion Control AMC '96-MIE. Volume: 1 , pp. 271 -276 vol. 1, March 18-21, 1996.

57W.A. Clark, R.T. Howe, and R. Horowitz, \Surface Micromachined, Z-Axis, Vibra- tory Rate Gyroscope," Tech. Dig. Solid-State Sensor and Actuator Workshop (Hilton Head `96), Hilton Head Island, SC, June 1996.

58P. Li, R. Horowitz, L. Alvarez, J. Frankel, and A. Robertson, \Tra￿c Flow Stabi- lization," SAE Systems and Issues in ITS, pp. 45-52, June 1995.

59R. Horowitz and L. Alvarez, \Convergence Properties of Self-Organizing Neural Net- works," Proceedings of the IEEE International Conference on Neural Networks, Vol. 1 pp. 7-12, June 1996.

60L. Alvarez, R. Horowitzand P. Li \Vehicle Flow Controller for the PATH AHS Ar- chitecture," Proceedings of the 1996 IFAC World Congress, Vol. Q, pp.207-212, San Francisco, July 1996.

61P. Li and R. Horowitz, \Control of Smart Exercise Machines, PART I: Problem For- mulation and Non-adaptive Control," Proceedings of the 1996 IFAC World Congress, San Francisco, July 1996.

62P. Li and R. Horowitz, \Control of Smart Exercise Machines, PART II: Self-optimizing Control," Proceedings of the 1996 IFAC World Congress, San Francisco, July 1996.

63R. Horowitz, S. Pannu and B. Li , \Adaptive Track Following Servos for Disk Files," Proceedings of the 1996 IFAC World Congress, San Francisco, July 1996.

64R. Horowitz, B. Li and J. McCormick, \Wiener Filter Based Minimum Variance Self-tuning regulation," Proceedings of the 1996 IFAC World Congress, San Francisco, July 1996.

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65P. Li and R. Horowitz, \Passive Velocity Field Control Approach to Robot Contour Following," Proceedings of the Japan-USA Symposium on Flexible Automation, Vol. 1, pp 25-32, Boston, July 1996.

66P. Li, L. Alvarez, R. Horowitz, P.Y. Chen and J. Carbaugh, \A Safe Velocity Track- ing Controllers for fAHSg Platoon Leaders," Proceedings of the IEEE International Conference on Decision and Control, pp. 2283-2288, Kobe, Japan, December 1996.

67L. Alvarez, R. Horowitz and P. Li, \A Vehicle Flow Controller for AHS," Proceedings of the IEEE International Conference on Decision and Control, pp. 2295-2300, Kobe, Japan, December 1996.

68P. Li, L. Alvarez and R. Horowitz, \AVHS Safe Control Laws for Platoon Leaders," Proceedings of 1996 ASME IMECE, Dynamics System and Control Division, pp. 9-16, November 1996.

69P. Li and R. Horowitz, \Application of Passive Velocity Field Control to Robot Contour Following Problems," Proceedings of the IEEE International Conference on Decision and Control, Kobe, Japan, December 1996.

70D. Horsley, A. Singh, A.P. Pisano and R. Horowitz, \Angular Micropositioner for Disk Drives," Proceedings of the IEEE MEMS'97 Workshop, Nagoya, Japan, January 1997.

71S. Aggarwal, D. Horsley, R. Horowitz and A.P. Pisano, \Micro-actuators for High Density Disk Drives," Proceedings of the American Control Conference, pp 3979-3984, Albuquerque, New Mexico, June 1997.

72L. Alvarez and R. Horowitz, Hybrid Control Design for Safe Maneuvering in the PATH AHS Architecture Proceeding of the American Control Conference, Albuquerque, NM, pp 2454-2459, June 1997.

73L. Alvarez and R. Horowitz, Analysis and Veri￿cation of the PATH AHS Coordination- Regulation Layers Hybrid System Proceeding of the American Control Conference, Al- buquerque, NM, pp 2460-2462, June 1997.

74J. Shields and R. Horowitz, Controller design and Experimental Veri￿cation of a Self- optimizing Motion Controller for Smart Exercise Machines. Proceeding of the American Control Conference, Albuquerque, NM, pp 2736-2742, June 1997.

75S. Pannu S. and R. Horowitz, \Accelerometer Feedforward Servo for Disk Drives," Proceedings of the Advanced Intelligent Mechatronics Conference, Tokyo, Japan, June 1997.

76Li, P. Y. and R. Horowitz, \Self-Optimizing Control: Application to Smart Exercise Machines" Proceedings of the 1997 IEEE Symposium on Computational Intelligence in Robotics and Automation (CIRA), Monterey, CA. pp347-352, July 1997.

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77 P. Li and R. Horowitz, \Self-optimizing Control," Proceedings of the 1997 IEEE Conference on Decision and Control (CDC), San Diego, CA, pp. 1228-1233, Dec. 1997.

78 L. Alvarez and R. Horowitz, \An activity based tra￿c ￿ow controller for AHS," Proceedings of the 1997 IEEE Conference on Decision and Control (CDC), San Diego, CA, pp. 1062-1067, Dec. 1997.

79J. Shields, L. Alvarez and R. Horowitz, \The balance beam: an instructional experi- ment in state feedback and observer design," Proceedings of the 1997 IEEE Conference on Decision and Control (CDC), San Diego, CA, pp. 1972-1977, Dec. 1997.

80S. Pannu and R. Horowitz, \Adaptive accelerometer feedforward servo for disk drives," Proceedings of the 1997 IEEE Conference on Decision and Control (CDC), San Diego, CA, pp. 4216-4218, Dec. 1997.

81J. Shields and R. Horowitz, \Adaptive Step Rate Control of a Stair Stepper Exercise Machine," Proceeding of the American Control Conference, pp. 1058-1062, Philadel- phia, Pennsylvania, June ,24-26, 1998.

82M. Krucinski, C. Cloet, R. Horowitz, M. Tomizuka and P. Li, \Inter-object Spacing Control and Controllability of a Manufacturing Transportation System," Proceeding of the American Control Conference, pp . 1259-1265, Philadelphia, Pennsylvania, June, 24-26, 1998.

83L. Alvarez, R. Horowitz, S. Chao and G. Gomes, \Optimal Desired Tra￿c Flow Patterns for Automated Highway Systems," Proceeding of the American Control Con- ference, pp. 1828-1832, Philadelphia, Pennsylvania, June, 24-26, 1998.

84D. A. Horsley, D. Hernandez, R. Horowitz, A. K. Packard, and A. P. Pisano \Closed- Loop Control of a Microfabricated Actuator for Dual-Stage Hard Disk Drive Servo Sys- tems," Proceeding of the American Control Conference, pp. 3028-3031, Philadelphia, Pennsylvania, June, 24-26, 1998.

85C. Toy, K. Leung, L. Alvarez and R. Horowitz. \Emergency Vehicles Maneuvers and Control Laws for Automated Highway Systems". Proceedings of the 1998 ASME IMECE. pp.705-12. December 1998.

86M. Krucinski, C. Cloet, M. Tomizuka and R. Horowitz \Asynchronous Observer for a Copier Paper Path," Proceedings of the 37th IEEE Conference on Decision and Control, Tampa, Florida, Part vol.3, 1998, pp.2611-12 vol.3. December 1998.

87Cloet C., Krucinski M., Tomizuka M., Horowitz R. \Intersheet spacing control and controllability of a copier paper path." Proceedings of the 1998 IEEE International Conference on Control Applications IEEE. Part vol.2, 1998, pp.726-30 vol.2.

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88Allen, J.J.; Kinney, R.D.; Sars￿eld, J.; Daily, M.R.; Ellis, J.R.; Smith, J.H.; Montague, S.; Howe, R.T.; Boser, B.E.; Horowitz, R.; Pisano, A.P.; Lemkin, M.A.; Clark, W.A.; Juneau, C.T. \Integrated micro-electro-mechanical sensor development for inertial ap- plications." IEEE 1998 Position Location and Navigation Symposium. Palm Springs, CA, USA, 20-23 April 1998.) New York, NY, USA: IEEE, 1998. p.9-16.

89Horsley, D.A.; Wongkomet, N.; Horowitz, R.; Pisano, A. \Design and feedback con- trol of electrostatic actuators for magnetic disk drives." Technical Digest. Solid-State Sensor and Actuator Workshop, Hilton Head Island, SC, USA, 8-11 June 1998.

90A. M. Shkel, R. Howe and R. Horowitz, \Modeling and Simulation of Micromachined Gyroscopes in Presence of Imperfections," Proceeding of the International Conference on Modeling and Simulation of Microsystems, pp-605-608, April 1999, Puerto Rico, USA.

91C. Cloet, M. Krucinski, R. Horowitz and M. Tomizuka, \A Hybrid Control Scheme for a Copier Paper Path," Proceeding of the American Control Conference, pp. 2114- 2118, San Diego, CA, June, 2-4, 1999.

92A. M. Shkel, R. Horowitz, A. A. Seshia, S. Park and R. Howe, Dynamics and Control of Micromachined Gyroscopes, Proceeding of the American Control Conference, pp. 2119-2124, San Diego, CA, June, 2-4, 1999. (PDF File)

93C. Toy, L. Alvarez and R. Horowitz, A Tra￿c Flow Controller for Non-Stationary Velocity Pro￿les in Automated Highway Systems. Proceeding of the American Control Conference, pp. 3691-3696, San Diego, CA, June, 2-4, 1999.

94D. Hernandez, S. Park, R. Horowitz and A. Packard, Dual-Stage Track-following Servo Design for Hard Disk Drives, Proceeding of the American Control Conference, pp. 4116-4122, San Diego, CA, June, 2-4, 1999.

95C. Canudas de Wit and R. Horowitz \Observers for tire/road contact velocity using only wheel angular velocity information," Proceeding of the 38th IEEE Conference on Decision and Control, Part vol.4, 1999, pp.3932-7 vol.4. December, 1999.

96Canudas de Wit, C., Horowitz R., Tsiotras P. \Model-based observers for tire/road contact friction prediction." In New Directions in Nonlinear Observer Design (Lecture Notes in Control and Information Sciences Vol.244). Springer-Verlag London. 1999, pp.23-42. London, UK.

97P.A. Stupar, A.P. Pisano and R. Horowitz \Polysilicon Suspensions for Magnetic Disk Drives," Transducers '99, Sendai Japan, June 7-10, 1999.

98Maharbiz, M.M.; Cohn, M.B.; Howe, R.T.; Horowitz, R.; Pisano, A.P., \Batch micropackaging by compression-bonded wafer-wafer transfer." Proceedings of 12th In- ternational Workshop on Micro Electro Mechanical Systems - MEMS 99, pp. 482-489. Orlando, FL, USA, 17-21 Jan. 1999.

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99Y. Li and R. Horowitz, \Track-Following Controller Design of MEMS-Based Dual- Stage Servos in Magnetic Hard Disk Drives". Proceedings of the International Confer- ence on Robotics and Automation, pp. 953-958. vol.1. San Francisco, CA, April 24-28, 2000.

100L. Alvarez, J. Yi and R. Horowitz. \Emergency Braking in Automated Highway Systems with Underestimation of the Friction Coe￿cient." Proceedings of the American Control Conference, pp. 574-579. Chicago, IL, June 28-30, 2000.

101G. Gomes, L. Alvarez and R. Horowitz. \Tra￿c Flow Patterns in AHS Networks: System and User Optimal". Proceedings of the American Control Conference, pp. 1498-1502. Chicago, IL, June 28-30, 2000.

102J. Yi, L. Alvarez, R. Howell, R. Horowitz and J.K. Hedrick. \A Fault Manage- ment System for Longitudinal Control in AHS". Proceedings of the American Control Conference, pp. 1514-1518. Chicago, IL, June 28-30, 2000.

103Y. Li and R. Horowitz. \Analysis and Self-tuning control of Dual-Stage Servos with MEMS Micro-actuators". Proceedings of the American Control Conference, pp. 2627- 2632. Chicago, IL, June 28-30, 2000.

104M. Kobayashi, T. Yamaguchi and R. Horowitz. \Track-seeking Control Design for Dual-Stage Actuators in Magnetic Disk Drives". Proceedings of the American Control Conference, pp. 2610-2614. Chicago, IL, June 28-30, 2000.

105S. Park and R. Horowitz. \Adaptive Control of MEMS Gyroscopes," Proceedings of the 7th Mechatronics Forum. Atlanta GA, Sept. 6-7, 2000.

106T.-L. Chen and R. Horowitz. \Design and fabrication of a PZT-Actuated Silicon Suspensions," Proceedings of the 7th Mechatronics Forum. Atlanta GA, Sept. 6-7, 2000.

107M. Krucinski, C. Cloet, R. Horowitz and M. Tomizuka. \A Mechatronics Approach to Copier Paperpath Control," First IFAC Conference on Mechatronic Systems, Darm- stadt, Germany, September 2000.

108J. Yi, L. Alvarez and R. Horowitz, C. Canudas de Wit. \Adaptive Emergency Braking Control Based on a Tire/Road Friction Dynamic Model," Proceedings of the 39th Conference on Decision and Control. p.456-61 vol.1. Sidney, Dec. 2000. (PDF File)

109Cloet, C.; Tomizuka, M.; Horowitz, R. \Design requirements and reference trajec- tory generation for a copier paperpath." Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics. p.911-16 vol.2. AIM '01, Como, Italy, 8-12 July 2001. (PDF File)

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110Jingang Yi; Alvarez, L.; Claeys, X.; Horowitz, R.; Canudas de Wit, C. \Emergency braking control with an observer-based dynamic tire/road friction model and wheel angular velocity information." Proceedings of the 2001 American Control Conference, p.19-24 vol.1. Arlington, VA, USA, 25-27 June 2001. (PDF File)

111Sungsu Park; Horowitz, R. \Adaptive control for z-axis MEMS gyroscopes." Proceed- ings of the 2001 American Control Conference, p.1223-8 vol.2. Arlington, VA, USA, 25-27 pp.1223-8 vol.2. June 2001. (PDF File)

112Alvarez, L.; Jingang Yi; Horowitz, R.; Olmos, L. \Observer based emergency braking control in automated highway systems." Proceedings of the 2001 American Control Conference, p.2093-8 vol.3. Arlington, VA, USA, 25-27 June 2001. (PDF File)

113Gomes, G.; Munoz, L.; Jingang Yi; Toy, C.; Cinnamon, S.; Horowitz, R.; Alvarez, L. \Meso-microscale tra￿c simulation of an AHS control architecture." Proceedings of the 2001 American Control Conference, p.1806-11 vol.3. Arlington, VA, USA, 25-27 June 2001. (PDF File)

114Tsung-Lin Chen; Horowitz, R. \Design, fabrication and dynamic analysis of a PZT- actuated silicon suspension." Proceedings of the 2001 American Control Conference, p.1235-40 vol.2. Arlington, VA, USA, 25-27 June 2001. (PDF File)

115Yunfeng Li; Horowitz, R. \Active suspension vibration control with dual stage ac- tuators in hard disk drives." Proceedings of the 2001 American Control Conference, p.2786-91 vol.4. Arlington, VA, USA, 25-27 June 2001. (PDF File)

116Claeys X, Jingang Yi, Alvarez L, Horowitz R, Canudas de Wit C., Richard L. \Tire friction modeling under wet road conditions." Proceedings of the 2001 American Con- trol Conference. IEEE. Part vol.3, June 2001, pp.1794-9 vol.3. (PDF File)

117Claeys, X.; Yi, J.; Alvarez, L.; Horowitz, R.; Canudas de Wit, C. \A New 3D dynamic Tire/Road Friction Model for Vehicle Control and Simulation." Proceedings of the 2001 ASME IMECE, IMECE2001/DSC-24528, New York, November 11-16, 2001. (PDF File)

118X. Sun, R. Horowitz and K. Komvopoulos. \Analysis of a Natural Frequency Track- ing System for MEMS Fatigue Testing," Proceedings of the IMECE 2001 , pp.339-44. New York, NY, Nov. 11-16, 2001. (PDF File)

119Xavier Claeys; Jingang Yi; Alvarez, L.; Horowitz, R.; Canudas de Wit, C. \A dy- namic tire/road friction model for 3D vehicle control and simulation." Proceedings of the 2001 IEEE Intelligent Transportation Systems. Proceedings, p.483-8, Oakland, CA, USA, 25-29 Aug. 2001. (PDF File)

120Munoz, L.; Gomes, G.; Jingang Yi; Toy, C.; Horowitz, R.; Alvarez, L. \Inte- grated meso-microscale tra￿c simulation of hierarchical AHS control architectures."

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Proceedings of the 2001 IEEE Intelligent Transportation Systems. Proceedings, pp. 82-7.Oakland, CA, USA, 25-29 Aug. 2001. (PDF File)

121 Sungsu Park, Horowitz R., Chin-Woo Tan. \Adaptive controller design of MEMS gyroscopes." ITSC 2001. Proceedings of the 2001 IEEE Intelligent Transportation Systems. IEEE. 2001, pp.496-501, 25-29 Aug. 2001. (PDF File)

122Jingang Yi, Hao Lin, Alvarez L, Horowitz R. \Stability of macroscopic tra￿c ￿ow modeling through wavefront expansion." Proceedings of the 2002 American Control Conference Part vol.2, 2002, pp.1484-90 vol.2, June 2002. (PDF File)

123Yunfeng Li, Horowitz R. \Active vibration control of a PZT actuated suspension in hard disk drives." Proceedings of the 2002 American Control Conference. Part vol.2, 2002, pp.1366-71 vol.2, June 2002. (PDF File)

124L. Alvarez, J. Yi, R. Horowitz and L. Olmos, \Adaptive Emergency Braking Control With Observer-Based Dynamic Tire-Road Friction Model And Underestimation Of Friction Coe￿cient," Proceedings of the 15th Triennial World Congress of the Interna- tional Federation of Automatic Control, Barcelona, Spain, July 21-26, 2002. (PDF File)

125J. Choi, J. Yamaguchi, S. Morales, R. Horowitz, Y. Zhao, A. Majumdar and P. Nor- ton, \Design And Control Of A Thermal Stabilizing System For An Optomechanical Uncooled Infrared Imaging Camera." Proceedings of the 15th Triennial World Congress of the International Federation of Automatic Control, Barcelona, Spain, July 21-26, 2002. (PDF File)

126Jingang Yi and R. Horowitz. \Macroscopic tra￿c ￿ow stability for adaptive cruise controlled (acc) vehicles." Proceedings of the 2002 Conference on Decision and Control (CDC). Part vol.1, 2002, pp.893-9. December 10 - 13, 2002. (PDF File)

127S. Park and R. Horowitz, \Adaptive Control for the Conventional Mode of Operation of MEMS Gyroscopes," Proceedings of 2nd IFAC Conference on Mechatronic Systems, pp.489-494 Berkeley, California, December 9-11, 2002. (PDF File)

128T.-L. Chen, K. Oldham, Y. Li and R. Horowitz, \Suspension Vibration Compen- sation Using a MEMS Microactuator in Hard Disk Drives," Proceedings of 2nd IFAC Conference on Mechatronic Systems, pp. 757-762, Berkeley, California, December 9-11, 2002. (PDF File)

129Yunfeng Li, Federico Marcassa, Horowitz R. and Roberto Oboe \Track following con- trol with active vibration compensation of a pzt actuated suspension dual-stage servo system.\ Proceedings of the 2003 American Control Conference. Denver Colorado. pp. 2553-2559, June 4-6, 2003. (PDF File)

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130Keitaro Ohno and Horowitz R. \Multi-rate nonlinear state estimator for hard disk drives." Proceedings of the 2003 American Control Conference. Denver Colorado. pp. 3083-3088, June 4-6, 2003. (PDF File)

131Laura Munoz, Xiaotian Sun, Horowitz R. and Luis Alvarez. \Tra￿c density esti- mation with the cell transmission model.\ Proceedings of the 2003 American Control Conference. Denver Colorado. pp. 3750-3755, June 4-6, 2003. (PDF File)

132Gabriel Gomes and Horowitz R. \A study of two onramp metering schemes for congested freeways." Proceedings of the 2003 American Control Conference. Denver Colorado. pp. 3756-3761, June 4-6, 2003. (PDF File)

133Xiaotian Sun, Laura Munoz and Horowitz R. \Highway Tra￿c State Estimation Us- ing Improved Mixture Kalman Filters for E￿ective Ramp Metering Control." Proceed- ings of the 42nd IEEE Conference on Decision and Control. Maui, Hawaii. December 9-12, 2003. (PDF File)

134Keitaro Ohno, Mitsuo Hirata and Horowitz R. \A Comparative Study of the Use of the Generalized Hold Function for HDDs." Proceedings of the 42nd IEEE Conference on Decision and Control. Maui, Hawaii. December 9-12, 2003. (PDF File)

135Xiaotian Sun, Horowitz R. and Chin-Woo Tan, \An E￿cient Lane Change Maneuver for Platoons of Vehicles in an Automated Highway System." Proceedings of the ASME IMECE. Washington DC. November 15-21, 2003. (PDF File)

136Gabriel Gomes, Adolf May and Horowitz R., \A Microsimulation Model of a Con- gested Freeway using VISSIM." Proceedings of the 83rd Annual Meeting of the Trans- portation Research Board, November 2003. (PDF File)

137Laura Mu~noz, Xiaotian Sun, Dengfeng Sun, Gabriel Gomes, and Roberto Horowitz. "Methodological calibration of the cell transmission model," in Proceedings of the 2004 American Control Conference, Boston, Massachusetts, June 30-July 2, 2004, pp. 798- 803. (PDF File)

138Xiaotian Sun, Laura Mu~noz, and Roberto Horowitz, Mixture Kalman ￿lter based highway congestion mode and vehicle density estimator and its application, in Proceed- ings of the 2004 American Control Conference, Boston, MA, Jun. 30{Jul. 2, 2004, pp. 2098{2103.

AACC Hugo Schuck Best Application Paper Award (PDF File)

139Luis Alvarez-Icaza, Laura Mu~noz, Xiaotian Sun, and Roberto Horowitz. "Adaptive observer for tra￿c density estimation," in Proceedings of the 2004 American Control

Conference, Boston, Massachusetts. June 30-July 2, 2004, pp. 2705-2710, (PDF File)

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140Xinghui Huang, Ryozo Nagamune, Roberto Horowitz, and Yunfeng Li. "Design and analysis of a dual-stage disk drive servo system using an instrumented suspension," in Proceedings of the 2004 American Control Conference, Boston, Massachusetts. June 30-July 2, 2004, pp. 535-540. (PDF File)

141Kenn Oldham, Stanley Kon and Roberto Horowitz. "Fabrication and Optimal Strain Sensor Placement in an Instrumented Disk Drive Suspension for Vibration Suppression," in Proceedings of the 2004 American Control Conference, Boston, Mas- sachusetts. June 30-July 2, 2004, pp. 1855-1861. (PDF File)

142Rene Sanchez, Roberto Horowitz and Masayoshi Tomizuka. "Paper Sheet Con- trol Using Steerable Nips," in Proceedings of the 2004 American Control Conference, Boston, Massachusetts. June 30-July 2, 2004, pp. 482-487. (PDF File)

143Gabriel Gomes and Roberto Horowitz. "Globally Optimal Solutions to the On-ramp Metering Problem - Part I," in Proceedings of the 7th International IEEE Conference on Intelligent Transportation Systems. IEEE pp.509-14. 2004. (PDF File)

144Gabriel Gomes and Roberto Horowitz. "Globally Optimal Solutions to the On-ramp Metering Problem - Part II," in Proceedings of the 7th International IEEE Conference on Intelligent Transportation Systems. IEEE. pp.515-20. 2004. (PDF File)

145Sanchez R., Horowitz R., Tomizuka M. and Simic SN. \Full Paper Sheet Control Using Hybrid Automata." in Hybrid Systems: Computation and Control. Proceed- ings of the 7th International Workshop, HSCC 2004.(Lecture Notes in Comput. Sci. Vol.2993). Springer-Verlag. 2004, pp.523-38. Berlin, Germany. (PDF File)

146Xiaotian Sun and Roberto Horowitz, \Localized Switching Ramp-Metering Con- troller with Queue Length Regulator for Congested Freeways." Proceedings of the 2005 American Control Conference, IEEE. Part vol. 3, 2005, pp.2141-6 vol. 3, Portland, Or, Jun. 8-10, 2005. (PDF File)

147Jongeun Choi and Roberto Horowitz, \Topology Preserving Neural Networks that Achieve a Prescribed Feature Map Probability Density Distribution." Proceedings of the 2005 American Control Conference, IEEE. Part vol. 2, 2005, pp.1343-50 vol. 2, Portland, Or, Jun. 8-10, 2005.

ACC'05 Best student paper ￿nalist. (PDF File)

148Xinghui Huang, Roberto Horowitz and Yunfeng Li, \Design and Analysis of Robust Track-Following Controllers for Dual-Stage Servo Systems with an Instrumented Sus- pension," Proceedings of the 2005 American Control Conference, Portland, Or, IEEE. Part vol. 2, 2005, pp.1126-31 vol. 2, Jun. 8-10, 2005. (PDF File)

149Kenn Oldham, Xinghui Huang and Roberto Horowitz, \Design, Fabrication, And Control Of A High-Aspect Ratio Microactuator For Vibration Suppression In A Hard

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Disk Drive ," Proceedings of the 16th IFAC World Congress, Prague, Czech Republic, July 4-8, 2005. (PDF File)

150Xiaotian Sun and Roberto Horowitz, \Localized Switching Ramp-Metering Control With Queue Length Estimation And Regulation And Microscopic Simulation Results," Proceedings of the 16th IFAC World Congress, Prague, Czech Republic, July 4-8, 2005. (PDF File)

151Ryozo Nagamune, Xinghui Huang and Roberto Horowitz, \Multi-rate track-following control with robust stability for a dual-stage multi-sensing servo system in HDDs." Proceedings of the Joint 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005, pp. 3886-3891, Seville, Spain, December 12-15, 2005. (PDF File)

152Xiaotian Sun and Roberto Horowitz, \A Set Of New Tra￿c-Responsive Ramp- Metering Algorithms And Microscopic Simulation Results." Proceedings of the Trans- portation Research Board (TRB) 85th Annual Meeting, Washington D.C., January 22-26, 2006. (PDF File)

153Laura Mu~noz, Xiaotian Sun, Roberto Horowitz and Luis Alvarez,\A Piecewise- Linearized Cell Transmission Model and Parameter Calibration Methodology." Pro- ceedings of the Transportation Research Board (TRB) 85th Annual Meeting, Washing- ton D.C., January 22-26, 2006. (PDF File)

154S. Kon, O. Kenn, R. Ruzicka, and R. Horowitz, "Design and fabrication of a piezo- electric instrumented suspension for hard disk drives." Proceedings of SPIE, Smart Structures and Materials 2006: Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems, pp. 951-960, San Diego, California, 26 February - 2 March 2006. (PDF File)

155Ryozo Nagamune, Xinghui Huang and Roberto Horowitz, \Robust H2 Synthesis for Dual-stage Multi-sensing Track-following Servo Systems in HDDs," Proceedings of the 2006 American Control Conference, Minneapolis, MN, IEEE, pp.1284-1289, Jun. 14-16, 2006. (PDF File)

156Xinghui Huang, Ryozo Nagamune, and Roberto Horowitz, \A Comparison of Mul- tirate Robust Track-Following Control Synthesis Techniques for Dual-Stage and Multi- Sensing Servo Systems in Hard Disk Drives," Proceedings of the 2006 American Control Conference, Minneapolis, MN, IEEE, pp.1290-1296, Jun. 14-16, 2006. (PDF File)

157Jongeun Choi, Ryozo Nagamune and Roberto Horowitz, \Synthesis of Multiple Robust Controllers for Parametric Uncertain LTI Systems." Proceedings of the 2006 American Control Conference, Minneapolis, MN, IEEE, pp.3629-3636, Jun. 14-16, 2006. (PDF File)

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158 Jongeun Choi, Ryozo Nagamune and Roberto Horowitz, \Multiple Robust Con- troller Design based on Parameter Dependent Lyapunov Functions." Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems (MTNS), Kyoto, Japan, July 24-28, 2006. (PDF File)

159Leonardo Contreras, Richard Conway, Sarah Felix, Jongeun Choi and Roberto Horowitz, \An Object Oriented Framework for the Synthesis of Robust Multi-rate Controllers for Hard Disk Drives (HDD)." Proceedings of the MEI2006: International Symposium on Management, Engineering and Informatics, The 9th World Multi-Conference on Sys- temics, Cybernetics and Informatics, Miami, Florida, July 2006. (PDF File)

160Rene Sanchez, Edgar Ergueta, Benjamin Fine, Roberto Horowitz, Mosayoshi Tomizuka and Martin Krucinski, \A Mechatronic Approach to Full Sheet Control Using Steer-

able Nips", Proceedings of the 4th IFAC-Symposium on Mechatronic Systems Heidel- berg, Germany, pp. 277-82, September 12th-14th, 2006 (PDF File)

161 R. Conway, S. Felix, and R. Horowitz. \Parametric uncertainty identi￿cation and model reduction for dual-stage robust H2 track-following control synthesis." Asia- Paci￿c Magnetic Recording Conference 2006, November 2006. (PDF File)

162Kon S., Oldham K. and Horowitz R. , \Piezoresistive and piezoelectric MEMS strain sensors for vibration detection." Proceedings of the SPIE - The International Society for Optical Engineering, vol.6529, pp. 65292V (11 ), 2007. (PDF File)

163Conway R, Felix S, Horowitz, R., \Parametric uncertainty identi￿cation and model reduction for robust H2 synthesis for track-following in dual-stage hard disk drives." 2007 American Control Conference. IEEE. pp. 68-75. (Best student paper ￿nalist). (PDF File)

164Ergueta, E., Horowitz, R., Sanchez, R. and Tomizuka, M. \Full sheet control through the use of steer-able nips." Proceedings of the ASME International Mechanical Engi- neering Congress and Exposition (IMECE 2007) Mechanical Systems and Control, v 9 PART B, pp 773-782, 2008. (PDF File)

165Choi, J., Oh, S. and Horowitz, R. "Cooperatively learning mobile agents for gradient climbing." Proceedings of the 46th IEEE Conference on Decision and Control, pp 3139- 3144, December 2007. (PDF File)

166Richard Conway and Roberto Horowitz, "A mu-synthesis approach to guaranteed cost control in track-following servos," Proceedings of the 17th World Congress The International Federation of Automatic Control, pp 833-838, Seoul, Korea, July 6-11, 2008. (PDF File)

167Edgar Ergueta, Robert Seifried, Roberto Horowitz and Masayoshi Tomizuka, "Ex- tended Luenberger Observer for a MIMO Nonlinear Nonholonomic System," Proceed-

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ings of the 17th World Congress The International Federation of Automatic Control, pp 9260-9265, Seoul, Korea, July 6-11, 2008. (PDF File)

168Kenn Oldham, Sarah Felix, Richard Conway, and Roberto Horowitz, "Design and Control of a Dual-Stage Disk Drive Servo System with a High-Aspect Ratio Elec- trostatic Microactuator," Proceedings of the 2008 American Control Conference, pp 4400-4406, Westin Seattle Hotel, Seattle, Washington, USA, June 11-13, 2008 (PDF File)

169Sarah Felix, Stanley Kon, Jianbin Nie and Roberto Horowitz, "Strain Sensing With Piezoelectric Zinc Oxide Thin Films for Vibration Suppression in Hard Disk Drives," Paper DSCC2008-2206, 2008 ASME Dynamic Systems and Control Conference, Ann Arbor, Michigan, USA, October 20-22, 2008. (PDF File)

170A. Chow; V. Dadok, G. Dervisoglu; G. Gomes; R. Horowitz, A. A. Kurzhanskiy; J. Kwon; X.-Y. Lu; A. Muralidharan, S. Norman, R. O. Sanchez, P. Varaiya, "TOPL: Tools for Operational Planning of Transportation Networks," PAPER: DSCC2008- 22432008, 2008 ASME Dynamic Systems and Control Conference, Ann Arbor, Michi- gan, USA, October 20-22, 2008. (PDF File)

171Edgar I. Ergueta; Robert Seifried; Roberto Horowitz, "A Robust Approach to Dy- namic Feedback Linearization for a Steerable Nips Mechanism," PAPER: DSCC2008- 2134, 2008 ASME Dynamic Systems and Control Conference, Ann Arbor, Michigan, USA, October 20-22, 2008. (PDF File)

172Richard Conway, Roberto Horowitz, "A Quasi-Newton Algorithm for LQG Con- troller Design With Variance Constraints," PAPER: DSCC2008-2239, 2008 ASME Dynamic Systems and Control Conference, Ann Arbor, Michigan, USA, October 20- 22, 2008. (PDF File)

173X. Y. Lu, P. Varaiya, R. Horowitz, and J. Palen, \Faulty loop data analysis/correction and loop fault detection," Proc. 15th ITS World Congress, November 16-20, 2008, New York 2009 (PDF File)

174S. Felix, R. Horowitz, "Enhanced vibration suppression in HDDs using instrumented suspensions," Asia Paci￿c Magnetic Recording Conference, Singapore, Jan. 2009. (PDF File)

175Dervisoglu, D., Gomes, G., Kwon, J.,Horowitz, R. and Varaiya, P. \Automatic Cal- ibration of the Fundamental Diagram and Empirical Observations on Capacity." 88th Annual Meeting, of the Transportation Research Board, Washington, D.C. January 2009. (PDF File)

176Muralidharan, A. and Horowitz, R. \Imputation of Ramp Flow Data for Freeway Tra￿c Simulation." 88th Annual Meeting, of the Transportation Research Board, Wash- ington, D.C. January 2009. (PDF File)

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177 X. Y. Lu, Kim, Z., Cao, M., Varaiya, P., Horowitz, R., and Palen, J., Portable Loop Fault Diagnosis Tool Development For Control Cabinet Level, 88th TRB Annual Meeting, Washington D. C., Jan. 2009 (PDF File)

178X. Y. Lu, P. Varaiya, R. Horowitz, and A. Skabardonis, Fundamental Diagram Mod- eling from NGSIM Data, to be presented at 2nd International Symposium on Freeway and Tollway Operations, Honolulu, Hawaii { June 21-24, 2009 (PDF File)

179Richard Conway and Roberto Horowitz, "Analysis of H2 Guaranteed Cost Perfor- mance," 2009 ASME Dynamic Systems and Control Conference, Hollywood, Califor- nia, October 12-14, 2009.

(PDF File) (Best Student Paper Award).

180Ajith Muralidharan and Roberto Horowitz, "Imputation of Ramp Flow Data using the Asymmetric Cell Transmission Tra￿c Flow Model ," 2009 ASME Dynamic Systems and Control Conference, Hollywood, California, October 12-14, 2009.

(PDF File)

181Jianbin Nie and Roberto Horowitz, "Design and Implementation of Dual-Stage Track-Following Control for Hard Disk Drives," 2009 ASME Dynamic Systems and Control Conference, Hollywood, California, October 12-14, 2009.

(PDF File)

182J. Huper, G. Dervisoglu, A. Muralidharan, G. Gomes, R. Horowitz and P. Varaiya. \Macroscopic Modeling and Simulation of Freeway Tra￿c Flow." 12th IFAC Sympo- sium on Control in Transportation Systems, Redondo Beach California September 2-4, 2009. (PDF File)

183X.-Y. Lu, P. Varaiya and R. Horowitz. \An Equivalent Second Order Model with Application to Tra￿c Control." 12th IFAC Symposium on Control in Transportation Systems, Redondo Beach California September 2-4, 2009. (PDF File)

184X.-Y. Lu, P. Varaiya, R. Horowitz and A. Skabardonis. \Fundamental Diagram Modeling and Analysis Based NGSIM Data." 12th IFAC Symposium on Control in Transportation Systems, Redondo Beach California September 2-4, 2009. (PDF File)

185R. Sanchez, R. Horowitz and P. Varaiya \Hardware-In-The-Loop On-Ramp Simu- lation Tool to Debug and Test the Universal Ramp Metering Software." 12th IFAC Symposium on Control in Transportation Systems, Redondo Beach California Septem- ber 2-4, 2009. (PDF File)

186Jianbin Nie and Roberto Horowitz, \A Tutorial on Control Design of Hard Disk Drive Self-Servo Track Writing," (Lead Tutorial paper) 2010 American Control Con- ference (ACC), Baltimore, MD, June 30-July 2, 2010.

(PDF File)

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187 Xiao-Yun Lu, Tony Z. Qiu, Pravin P. Varaiya, Roberto Horowitz and Steven E. Shladover, \Combining Variable Speed Limits with Ramp Metering for Freeway Tra￿c Control."2010 American Control Conference (ACC), Baltimore, MD, June 30-July 2, 2010. (PDF File)

188 Xiao-Yun Lu, Pravin P. Varaiya, Roberto Horowitz, Dongyan Su and Steven E. Shladover, "A New Approach for Combined Freeway Variable Speed Limits and Co- ordinated Ramp Metering," 2010 13th IEEE Conference on Intelligent Transportation Systems (ITSC), pp.491 -498, Sep. 2010. (PDF File)

189Richard Conway, Roberto Horowitz, \Optimal full information H2 guaranteed cost control of discrete-time systems," PAPER: DSCC2010-4220, 2010 ASME Dynamic Systems and Control Conference, Cambridge, Massachusetts, USA, September 13-15, 2010. (PDF File)

190Jianbin Nie, Roberto Horowitz, \Optimal H In￿nity Control for Linear Periodically Time-varying Systems in Hard Disk Drives," DSCC2010-4285, 2010 ASME Dynamic Systems and Control Conference, Cambridge, Massachusetts, USA, September 13-15, 2010. (PDF File)

191J. Nie, R. Conway, and R. Horowitz, "H2 Guaranteed Cost Control Design And Implementation For Dual-Stage Hard Disk Drive Track-Following Servos," 2011 ASME Dynamic Systems and Control Conference, DSCC2011-6095, 2011. (PDF File)

192Gunes Dervisoglu and Roberto Horowitz, "Model Based Fault Detection of Freeway Tra￿c Sensors," 2011 ASME Dynamic Systems and Control Conference, DSCC2011- 6177, 2011. (PDF File)

193Ajith Muralidharan and Roberto Horowitz, "Analysis Of An Adaptive Iterative Learning Algorithm For Freeway Ramp Flow Imputation," 2011 ASME Dynamic Sys- tems and Control Conference, DSCC2011-6178, 2011. (PDF File)

194R. O. Sanchez,, G. Flores, R. Horowitz, R. Rajagopal and P. Varaiya, "Vehicle Re- Identi￿cation Using Wireless Magnetic Sensors: Algorithm Revision, Modi￿cations and Performance Analysis," 2011 IEEE International Conference on Vehicular Electronics and Safety (ICVES), July 2011. (PDF File)

195R. O. Sanchez,, G. Flores, R. Horowitz, R. Rajagopal and P. Varaiya, "Arterial Travel Time Estimation Based On Vehicle Re-Identi￿cation Using Magnetic Sensors: Perfor- mance Analysis," 2011 14th IEEE Conference on Intelligent Transportation Systems (ITSC), pp.997 -1002, Oct. 2011. (PDF File)

196Xiao-Yun Lu, Tony Z. Qiu, Roberto Horowitz, Andy Chow and Steven Shladover, "METANET Model Improvement for Tra￿c Control," 2011 14th IEEE Conference on Intelligent Transportation Systems (ITSC), pp.2148 -2153, Oct. 2011. (PDF File)

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197Josiah Wernow and Roberto Horowitz, "Quasi-Shear Mode Piezoelectric Microac- tuator For Head-Based Servo Control In Hard Disk Drives," 2012 IEEE 25th Interna- tional Conference on Micro Electro Mechanical Systems (MEMS) , Paris, France, 29 Jan.-2 Feb. 2012. (PDF File)

198Richard Conway and Roberto Horowitz, \H2 Guaranteed Cost Analysis For Sys- tems with Norm-Bounded Structured Uncertainty," 2012 American Control Confer- ence, Montreal Canada, June 2012. (PDF File)

199Ajith Muralidharan and Roberto Horowitz, \Optimal Control Of Freeway Networks Based On The Link Node Cell Transmission Model," 2012 American Control Confer- ence, Montreal Canada, June 2012. (PDF File)

200Richard Conway and Roberto Horowitz, \A Separation Principle For Output Feed- back Discrete-Time H2 Guaranteed Cost Control," 2012 Joint ASME Dynamic Systems and Control Conference and MOVIC, Cambridge, Massachusetts, USA, September 13- 15, DSCC2012-MOVIC2012-8850, 2012. (PDF File)

201Deepan Muthirayan and Roberto Horowitz, \A Self-Tuning Algorithm for Z-Axis Micro Rate Integrating Gyroscopes," 2012 Joint ASME Dynamic Systems and Control Conference and MOVIC, Cambridge, Massachusetts, USA, September 13-15, DSCC2012- MOVIC2012-8773, 2012. (PDF File)

202Ajith Muralidharan, Roberto Horowitz and Pravin Varaiya\Model Predictive Con- trol of a Freeway Network With Capacity Drops," 2012 Joint ASME Dynamic Systems and Control Conference and MOVIC, Cambridge, Massachusetts, USA, September 13- 15, DSCC2012-MOVIC2012-8851, 2012. (PDF File)

203B. Shahsavari, R. Conway, E. Keikha, and R. Horowitz, \Robust Control Design for Hard Disk Drives with Irregular Sampling," APMRC Digest, pp. 1-2. IEEE, 2012.

204b Jose R. Dominguez Frejo, Eduardo Fernandez Camacho and Roberto Horowitz,\A parameter identi￿cation algorithm for the METANET model with a limited number of loop detectors," 51st IEEE Conference on Decision and Control, December 10-13, 2012. Maui, Hawaii, USA. 2012. (PDF File)

205 Dongyan Su, Alex Kurzhanskiy, and Roberto Horowitz. "Simulation of Arterial Tra￿c Using Cell Transmission Model." In Transportation Research Board 92nd An- nual Meeting, no. 13-2387. 2013. (PDF File)

206 B. Shahsavari, R. Conway, E. Keikha, F. Zhang, and R. Horowitz, \H1 Control Design for Systems with Periodic Irregular Sampling Using Optimal H2 Reference Controllers," ASME ISPS Conference June 24-25, 2013, Santa Clara, USA, Paper ISPS2013-295, 2013. (PDF File)

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207B. Shahsavari, R. Conway, E. Keikha, and R. Horowitz, \Limits of Performance in Systems with Periodic Irregular Sampling and Actuation Rates." 6th IFAC Symposium on Mechatronic Systems, no. 1, pp. 347-354. Hangzhou, China, April 10-12, 2013. (PDF File)

208E. Keikha, B. Shahsavari, A. Al-Mamun and R. Horowitz \A probabilistic approach to robust controller design for a servo system with irregular sampling." 10th IEEE International Conference on Control and Automation, (ICCA2013) Hangzhou, China. June 2013 (PDF File)

209Brian T. Phegley, Roberto Horowitz and Gabriel Gomes, \Fundamental Diagram Calibration: A Stochastic Approach to Linear Fitting", Transportation Research Board 93rd Annual Meeting (TRB), (14-4928), Session: 841 - Advances in Tra￿c Flow Theory and Characteristics, Part 2. Washington, D.C., Jan., 2014. (PDF File)

210Dongyan Su, Roberto Horowitz and Xiao-Yun Lu, \Real-Time Estimation of Inter- section Turning Proportions from Exit Counts", Transportation Research Board 93rd Annual Meeting (TRB), (14-3095), Session: 706 - Prediction, Estimation, and Real- Time Tra￿c Signal Systems (18). Washington, D.C., January 12-16, 2014. (PDF File)

211Nianfeng Wan, Gabriel Gomes, Ardalan Vahidi and Roberto Horowitz, \Prediction on Travel-Time Distribution for Freeways Using Online Expectation Maximization Al- gorithm", Transportation Research Board 93rd Annual Meeting (TRB), (14-3221), Ses- sion: 841 - Advances in Tra￿c Flow Theory and Characteristics, Part 2. Washington, D.C., January 12-16, 2014. (PDF File)

212Cheng-Ju Wu, Thomas Schreiter, Roberto Horowitz and Gabriel Gomes, \Fast Boundary Flow Prediction for Tra￿c Flow Models using Optimal Autoregressive Mov- ing Average with Exogenous Inputs (ARMAX) Based Predictors", Transportation Re- search Board 93rd Annual Meeting (TRB), (14-4645), Session: 841 - Advances in Traf- ￿c Flow Theory and Characteristics, Part 2. Washington, D.C., January 12-16, 2014. (PDF File)

213Leah Anderson, Edward S. Canepa, Roberto Horowitz, Christian G. Claudel and Alexandre Bayen, \Optimization-Based Queue Estimation on an Arterial Tra￿c Link with Measurement Uncertainties", Transportation Research Board 93rd Annual Meet- ing (TRB), (14-4570), Session: 381 - Innovations in Vehicle Detection [14]. Washing- ton, D.C., January 12-16, 2014. (PDF File)

214Fu Zhang, Ehsan Keikha, R. Max Moore, and Roberto Horowitz, \The Method of Averaging Using an Adaptive Notch Filter in Vibratory Gyroscopes'" 1st IEEE International Symposium on Inertial Sensors and Systems (ISISS), Laguna Beach, CA, Feb. 2014. (PDF File)

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215Fu Zhang, Ehsan, Keikha, Shahsavari and Roberto Horowitz, \Adaptive Mismatch Compensation for Vibratory Gyroscopes," 1st IEEE International Symposium on In- ertial Sensors and Systems (ISISS), Laguna Beach, CA, Feb. 2014. (PDF File)

216Cheng-Ju Wu, Thomas Schreiter and Roberto Horowitz, \Multiple Clustering ARMAX-

Based Predictor and Its Application to Freeway Tra￿c Flow Prediction," 2014 Amer- ican Control Conference (ACC), Portland, Oregon, USA. June 4-6, 2014. (PDF File)

217Gunes Dervisoglu, Alexander Kurzhanskiy, Gabriel Gomes, and Roberto Horowitz, \Macroscopic Freeway Model Calibration with Partially Observed Data, a Case Study," 2014 American Control Conference (ACC), Portland, Oregon, USA. June 4-6, 2014. (PDF File)

218Shahsavari, B., Keikha, E., Zhang, F., and Horowitz, R. \Repeatable runout fol- lowing in bit patterned media recording," Proceedings of the ASME 2014 Conference on Information Storage and Processing Systems (ISPS2014), Santa Clara, California, USA. June 23-24, 2014. (PDF File)

219Bagherieh, O., Shahsavari, B., Keikha, E. and Horowitz, R. \Observer design for non-uniform sampled systems using gain-scheduling," Proceedings of the ASME 2014 Conference on Information Storage and Processing Systems (ISPS2014), Santa Clara, California, USA. June 23-24, 2014. (PDF File)

220B. Shahsavari, F. Zhang, E. Keikha, and R. Horowitz, \Adaptive repetitive control using a modi￿ed ￿ltered-X LMS algorithm," Proceedings of the ASME Dynamic Sys- tems and Control Conference, (DSCC2014-6322). San Antonio, TX, October 22-24, 2014. (PDF File)

221F. Zhang, E. Keikha, B. Shahsavari, and R. Horowitz, \Adaptive Mismatch Com- pensation For Coriolis Vibratory Gyroscopes With Improved Convergence Rate," Pro- ceedings of the ASME Dynamic Systems and Control Conference, (DSCC2014-6053). San Antonio, TX, October 22-24, 2014. (PDF File)

222Omid Bagherieh, Karl Hedrick, and R. Horowitz, \Nonlinear Control of Float- ing O￿shore Wind Turbines Using Input/ Output Feedback Linearization And Slid- ing Control," Proceedings of the ASME Dynamic Systems and Control Conference (DSCC2014-5982). San Antonio, TX, October 22-24, 2014. (PDF File)

223Behrooz Shahsavari; Mehdi Maasoumy; Alberto Sangiovanni-Vincentelli and Roberto Horowitz, \Stochastic model predictive control design for load management system of aircraft electrical power distribution," Proceedings of the 2015 American Control Conference (ACC), pp. 3649-55, Chicago, IL, USA, July 2015. (PDF File)

224Giovanni De Nunzio; Gabriel Gomes; Carlos Canudas de Wit; Roberto Horowitz; Philippe Moulin; \Arterial bandwidth maximization via signal o￿sets and variable

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speed limits control," Proceedings of the IEEE 54th Annual Conference on Decision and Control (CDC), pp. 5142-8, Osaka, Japan, Dec. 2015. (PDF File)

225Wright, M.; Horowitz, R.; Kurzhanskiy, A.A.;\A dynamic system characterization of road network node models," Proceedings of the 10th IFAC Symposium on Nonlinear Control Systems NOLCOS, IFAC-PapersOnLine 49-18, pp, 1054-59, Monterey, CA Aug. 2016. (PDF File)

226Behrooz Shahsavari, Omid Bagherieh, Negar Mehr, Roberto Horowitz and Claire Tomlin,\Optimal Mode-Switching and Control Synthesis for Floating O￿shore Wind Turbines," Proceedings of the 2016 American Control Conference (ACC), pp. 2295- 300, Boston, MA, USA, July 2016. (PDF File)

227Negar Mehr, Dorsa Sadigh and Roberto Horowitz, \Probabilistic controller synthesis for freeway tra￿c networks," Proceedings of the 2016 American Control Conference (ACC), pp. 880, Boston, MA, USA, July 2016. (PDF File)

228Koehler, S.; Mehr, N.; Horowitz, R.; Borrelli, F.; \Stable hybrid Model Predictive Control for ramp metering," Proceedings of the 2016 IEEE 19th International Confer- ence on Intelligent Transportation Systems (ITSC), pp, 1083-8, Rio de Janeiro, Brazil, Nov. 2016. (Best Student Paper Award). (PDF File)

229Shahsavari, B.; Jinwen Pan; and Horowitz, R., \Adaptive rejection of periodic dis- turbances acting on linear systems with unknown dynamics," Proceedings of the IEEE 55th Annual Conference on Decision and Control (CDC), pp. 1243-8, Las Vegas, USA, Dec. 2016. (PDF File)

230Mehr, N.; Horowitz, R.; Dragan, A.D.: \Inferring and assisting with constraints in shared autonomy," Proceedings of the IEEE 55th Annual Conference on Decision and Control (CDC), pp. 6689-96, Las Vegas, USA, Dec. 2016. (PDF File)

231Jinwen Pan; Zhi Chen; Yong Wang and Roberto Horowitz,\Fast feedforward vibra- tion rejection algorithms based on orthogonalization," Proceedings of the 2017 Amer- ican Control Conference (ACC), pp. 1115-20,May 2426, Seattle, USA, 2017. (PDF File)

232Negar Mehr; Dorsa Sadigh; Roberto Horowitz; S. Shankar Sastry; Sanjit A. Se- shia,\Stochastic predictive freeway ramp metering from Signal Temporal Logic spec- i￿cations," Proceedings of the 2017 American Control Conference (ACC), pp. 4884- 9,May 2426, Seattle, USA, 2017. (PDF File)

233Eric S. Kim; Cheng-Ju Wu; Roberto Horowitz and Murat Arcak, \O￿set optimiza- tion of signalized intersections via the Burer-Monteiro method," Proceedings of the 2017 American Control Conference (ACC), pp. 3554-9,May 2426, Seattle, USA, 2017. (PDF File)

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234 Wright, M; and Horowitz, R., \Particle-￿lter-enabled real-time sensor fault detec- tion without a model of faults," Proceedings of the IEEE 56th Annual Conference on Decision and Control (CDC), pp. 5757-63, Melbourne, VIC, Australia, Dec. 2017. (PDF File)

235Mehr, N.; Horowitz, R. and Pedarsani, R., `Low-complexity ramp metering for free- way congestion control via network utility maximization," Proceedings of the IEEE 56th Annual Conference on Decision and Control (CDC), pp. 5672-7, Melbourne, VIC, Australia, Dec. 2017. (PDF File)

2Non-referred Publications:

2.1Archival Journals

1 R. Horowitz, \Learning Control Applications to Mechatronics," JSME International Journal, Series C, pp. 421-430, Vol. 37, No. 3, September 1994. (Invited paper).

2Messner, W.C. and Horowitz, R., \Guest Editorial to the Special Issue on the Focus Section on Mechatronics for Disk File Storage Systems," IEEE/ASME Transactions on Mechatronics, Vol. 3 Issue: 3, pp. 153 - 155, Sept. 1998.

3Tsung-Lin Chen, Yunfeng Li, Oldham, K., and Horowitz, R. MEMS applications in computer disk drive dual-stage servo systems. Journal of the Society of Instrument and Control Engineers, vol.41, (no.6), Soc. Instrum. & Control Eng, June 2002. p.412-20. (Invited paper).

2.2Conference and Symposium Proceedings

1 S. Meshkat, R. Horowitz, F.N. Baily, M. Tomizuka and H.T. Tham, \Robust and Adaptive Control in Velocity and Position Control Systems," in Thirteenth Symposium of Incremental Motion Control Systems and Devises, May 1983, pp. 75-89.

2M. Tomizuka, and R. Horowitz, \Model Reference Adaptive Control of Mechanical Manipulators," in Adaptive Systems in Control and Signal Processing 1983, Proceed- ings of the IFAC Workshop, Pergamon Press, 1984. pp. 27-32 (Invited paper).

3M. Tomizuka, R. Horowitz, and C.L. Teo \Model Reference Adaptive Controller and Robust Controller for Positioning of Varying Inertia," in Proceedings of Conference on Applied Motion Control, University of Minnesota, May 1985, pp. 191-196 (Invited paper).

4R. Horowitz, W. Messner, J.B. Moore and W-W. Kao, \Learning Motion Controllers for Robot Manipulators," in Proceeding of the Sixth Yale Workshop on Adaptive and Learning Systems, pp 218-224, August 1990, Yale University (Invited Paper).

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5 P. Cheung, R. Horowitz, and R. T. Howe, \Design and Modeling of a Linear Mi- croactuator," in Progress in Precision Engineering, Proceedings of the 6th International Precision Engineering Seminar and 2nd Conference on Ultraprecision in Manufactur- ing Engineering, eds. Seyfried, Kunzmann, McKeown and Weck, Springer-Verlag, pp. 255-265, May 1991, Braunschweig, Germany, (Invited Paper).

6 R. Horowitz, \Learning Control Applications to Mechatronics," Proceedings of the 1992 International Conference on Motion and Vibration Control, pp.12-21, Yokohama, Japan, Sept. 1992, (Keynote Speech).

7Horowitz, R., Cheung, P. and Howe, R.T., \Position Sensing and Control of Electrostatically- driven Polysilicon Microactuators," Digest of the 1995 Magnetic Recording Conference. 'Magnetic Recording Heads'., pp. D4 , 10-12 July, 1995.

8R. Horowitz and B. Li, \Adaptive Track Following Servos for Disk File Actuators," IEEE Asian Paci￿c Magnetic Recording Conference (APMRC'95), Singapore, Nov. 1995, (Invited Paper).

9L. Alvarez, P.Y.Li and R. Horowitz, \A link layer vehicle ￿ow stabilizing controller for the PATH AHS control architecture," Proceedings of the 1996 Workshop on Adaptive Learning Systems. Yale, New Haven, July 1996. (Invited Paper).

10 L. Alvarez and R. Horowitz.

Approach for Hybrid Systems".

Systems. 1996.

\AHS Safe Feedback Based Maneuvers: A Design Proceedings of the 1996 Cornell workshop on Hybrid

11R. Horowitz, \Automatic Highway Systems; Proceedings of the 8th IFAC Symposium on Transportation Systems, June 1997, Chania, Greece. Part vol.2, 1997, pp.449-60 vol.2. (Plenary Talk).

12L. Alvarez and R. Horowitz, \Tra￿c Flow Control in Automated Highways Systems," Proceedings of the 8th IFAC Symposium on Transportation SystemsPart vol.1, 1997, pp.65-70 vol.1. , June 1997, Chania, Greece.

13D. A. Horsley, S. Aggarwal, R. Horowitz, A. P. Pisano and A. Singh, \MEMS for Ultra-High Density Hard Disk Drives," Presented at the Third International Microma- chined Symposium, Tokyo, Japan, Oct. 1997. (Invited Talk).

14R. Horowitz, D. A. Horsley, D. Hernandez and A. P. Pisano, \Microfabricated Actua- tors for Dual-Stage Hard Disk Drive Servo Systems," Presented at the IARP Workshop on Micro Robotics and Systems, Beijing, China, October 22-23, 1998. (Invited Talk).

15R. Horowitz, P. Li and J. Shields, \Control of Self-optimizing Exercise Machines," 1998 IFAC International Workshop on Motion Control, September 21-23, 1998, Greno- ble, France. Proceedings volume from the IFAC Workshop. Elsevier Sci. 1999, pp.365- 77. Kidlington, UK. (Plenary Talk).

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16A. Shkel, R. Howe and R. Horowitz, \Micromachined Gyroscopes: Challenges, Design Solutions and Opportunities," Proceedings of the International Workshop on Micro- Robotics, Micro-machines and Systems, Moscow, Russia, Nov. 24-25, 1999. (Invited talk).

17R. Horowitz, Y. Li and S. Park, \Mechatronics of Electrostatic Microactuators and Micro-Gyroscopes," Proceedings of the 6th International Workshop on Advanced Mo- tion Control (AMC2000), pp.XXXI-XXXVIII. March 30 - April 1, 2000. IEEE. (Ple- nary Talk).

18Kobayashi, M. and Horowitz, R., \Track seek control for hard disk dual-stage servo systems," Digest of the Asia-Paci￿c Magnetic Recording Conference, 2000. APMRC 2000 , pp. WA5/1 -WA5/2, Japan, Nov. 6-8, 2000.

19Yunfeng Li, Horowitz R. and Evans R. \Vibration control of a PZT actuated suspen- sion dual-stage servo system using a PZT sensor." Digest of the Asia-Paci￿c Magnetic Recording Conference 2002 (Cat. No.02EX584). IEEE. 2002, pp.CP6-01-CP6-02. Pis- cataway, NJ, USA.

20Roberto Horowitz, Yunfeng Li, Kenn Oldham, Stanley Kon and Xinghui Huang. \Dual-Stage Servo Systems and Vibration Compensation In Computer Hard Disk Drives." Proceedings of the 3rd IFAC Symposium on Mechatronic Systems, Sydney Australia. September 6-8, 2004, pp. 247-258. (Plenary presentation). (PDF File)

21B. Shahsavari, R. Conway, E. Keikha, and R. Horowitz, \Limits of Performance in Systems with Periodic Irregular Sampling and Actuation Rates Mechatronic Systems," In Mechatronic Systems, no. 1, pp. 347-354. 2013.

2.3Articles in non-archival magazines or journals

1 M. Tomizuka, R. Horowitz D.M. Auslander and D.A. Dornfeld, \Recent Research in Motion Control at the University of California, Berkeley," in Power Conversion International, Vol. 10, No. 4, April 1984, pp 28-32.

2Allen, J.J.; Kinney, R.D.; Sars￿eld, J.; Daily, M.R.; Ellis, J.R.; Smith, J.H.; Montague, S.; Howe, R.T.; Boser, B.E.; Horowitz, R.; Pisano, A.P.; Lemkin, M.A.; Clark, W.A.; Juneau, T., \Integrated micro-electro-mechanical sensor development for inertial applications." IEEE Aerospace and Electronic Systems Magazine, Vol.13, No.11, IEEE, Nov. 1998. p.36-40.

3 Xiaotian Sun, Laura Mu~noz, and Roberto Horowitz. "UC Researchers Develop Improved Ramp Metering Algorithms." Intellimotion, Vol. 11, No. 4, 2005. (PDF File)

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2.4Reports

1 N. Sadegh, and R. Horowitz, \Stability and Robustness Analysis of a Class of Adap- tive Controllers for Robotic Manipulators," University of California at Berkeley, RAMP Report 87-1/ESRC 87-6, 1987.

2 R. Horowitz, K. Hallamasek and J. Y. Yen, \IBM SUR Contract SL86079- UCB Grant 442455-59963, Progress Report No 1: Servo Design for a Compound (Piggy Back) Disk File Actuator," Department of Mechanical Engineering, University of Cal- ifornia at Berkeley, Dec. 14, 1986, Revised: August 27, 1987.

3 R. Horowitz, J. Y. Yen and K. Hallamasek, \IBM SUR Contract SL867079- UCB Grant 442455-59963, Progress Report No 2: Track Following Controller Design using LQG Optimal Control with Frequency Shaped Cost Functionals and Noise Covariances

{Robustness Analysis and Observer Design," Department of Mechanical Engineering, University of California at Berkeley, April, 6 1987

4 R. Horowitz, J. Y. Yen and K. Hallamasek, \IBM SUR Contract SL867079- UCB Grant 442455-59963, Progress Report No 3: Discrete-Time Controller Design using Linear-Quadratic Control with Frequency-Shaped Cost Functionals," Department of Mechanical Engineering, University of California at Berkeley, July 23, 1987 Revised: August 19, 1987

5 R. Horowitz, J. Y. Yen and K. Hallamasek, \IBM SUR Contract SL867079- UCB Grant 442455-59963, Progress Report No 4: Discrete-Time Implementation of a Linear Quadratic Gaussian Optimal Controller with Frequency Shaped Cost Functionals and Noise Covariances in the Presence of Unmodeled Dynamics," Department of Mechan- ical Engineering, University of California at Berkeley, Aug. 7, 1987 Revised: Oct. 28, 1987

6 R. Horowitz, K. Hallamasek and J. McCormick, \IBM SUR Contract SL867079- UCB Grant 442455-59963, Progress Report No 5A: Optimal Control for the Design of a Track-Seeking Servo for a Compound Actuator," Department of Mechanical Engi- neering, University of California at Berkeley, February 15, 1988

7R. Horowitz, J. Y. Yen and E. Gross, \IBM SUR Contract SL867079- UCB Grant 442455-59963, Progress Report No 5B: Discrete Time LQG/LTR Controller Design and Determination of the Allowable Parameter Variation for Guaranteed System Stability," Department of Mechanical Engineering, University of California at Berkeley, February 17, 1988

8W. Messner, R. Horowitz, W-W. Kao and M. Boals, A New Adaptive Learning Rule, University of California at Berkeley, RAMP Report 89-10/ESRC 89-12, April 1989.

9R. Horowitz, James McCormick and Patrick Cheung, \IBM SUR Contract SL88086- UCB Grant 442455-59129, Final Report: Self-tuning Control of Disk File Actuators," Department of Mechanical Engineering, University of California at Berkeley, 1989.

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10J.Y. Yen, K. Hallamasek, and R. Horowitz, \Track Following Controller Design for a Compound Disk Drive Actuator," University of California at Berkeley, CML Report 89-003, March 1989.

11J.Y. Yen and R. Horowitz, \Discrete Time H2 Loop Transfer Recovery," University of California at Berkeley, CML Report 89-004, April 1989.

12J. McCormick and R. Horowitz, \Time Optimal Seek Trajectories for a Dual Stage Optical Disk Drive," University of California at Berkeley, CML Report 89-017, October 1989.

13W. Messner and R. Horowitz, \Identi￿cation of a Nonlinear Function in a Dynamical Systems," University of California at Berkeley, CML Report 90-011, May 1990.

14R. Horowitz and J. McCormick, \A Self-Tuning Control Scheme for Disk File Servos," University of California at Berkeley, CML Report 90-012, May 1990.

15J. Frankel, L. Alvarez, R. Horowitz and P. Li, \Robust Platoon Maneuvers for AVHS," PATH Technical Note 94-9, November, 1994.

16P Cheung, R. Horowitz and R. Howe, \Position Sensing and Control of an Electrostatically- driven Polysilicon Microactuator," CML report 94-018, Dec. 1994.

17P Cheung, R. Horowitz and R. Howe, \Design, Fabrication, Position Sensing and Control of an Electrostatically-driven Polysilicon Microactuator," CML report 95-06, Aug. 1995.

18B. Li and R. Horowitz, "Adaptive Track-Following Servos For Disk File Actuators," CML report 95-09, August 1995.

19P. Li, R. Horowitz L. Alvarez, J. Frankel and A. M. Robertson, \An AVHS Link Layer Controller for Tra￿c Flow Stabilization," Institute for Transportation Stud- ies, University of California at Berkeley. PATH Research Report, UCB-PATH TECH NOTE 95-15, May, 1995.

20J. Frankel, L. Alvarez, R. Horowitz and P. Li, \Robust Platoon Maneuvers for AVHS," Institute for Transportation Studies, University of California at Berkeley. PATH Research Report, UCB-PATH TECH NOTE 94-09, May, 1995.

21L. Alvarez and R. Horowitz, \Tra￿c ￿ow control in automated highway systems," Institute for Transportation Studies, University of California at Berkeley. PATH Re- search Report, UCB-ITS-PRR 97-47, 1997.

22L. Alvarez and R. Horowitz, \Safe platooning in automated highway systems," Insti- tute for Transportation Studies, University of California at Berkeley. PATH Research Report, UCB-ITS-PRR 97-46, 1997.

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23 P.Y. Chen , L. Alvarez and R. Horowitz, \Trajectory Design and Implementation of Longitudinal Maneuvers on AHS Automated and Transition Lanes," Institute for Transportation Studies, University of California at Berkeley. PATH Research Report, UCB-ITS-PRR 97-49, 1997.

24J. Carbaugh, L. Alvarez, P.Y. Chen and R. Horowitz, \SmartPath Regulation Layer Implementation: A User's Guide," Institute for Transportation Studies, University of California at Berkeley. PATH Research Report, UCB-ITS-PRR 97-48, 1997.

25D. Gulick, L. Alvarez and R. Horowitz, \Implementation of the regulation layer using Shift," Institute for Transportation Studies, University of California at Berkeley. PATH Research Report, UCB-ITS-PRR-98-26, 1998. (Formerly UCB-PATH TECH NOTE, 1997)

26R. Horowitz, \Hybrid Supervisory Control for degraded Modes of Operation: Final Report for MOU135," PATH Research Report to CALTRANS 97-C19, 1997.

27R. Horowitz and L.S. Fan, \High-Bandwidth, High-Accuracy MEMS Microposition- ers for Magnetic Disk Drives," DARPA Grant DABT63-95-C-0028, Quarterly Report 1Q 1997.

28R. Horowitz and L.S. Fan, \High-Bandwidth, High-Accuracy MEMS Microposition- ers for Magnetic Disk Drives," DARPA Grant DABT63-95-C-0028, Semiannual Report 2Q 1997.

29R. Horowitz and L.S. Fan, \High-Bandwidth, High-Accuracy MEMS Microposition- ers for Magnetic Disk Drives," DARPA Grant DABT63-95-C-0028 Quarterly Report 3Q 1997."

30R. Horowitz and L.S. Fan, \High-Bandwidth, High-Accuracy MEMS Microposition- ers for Magnetic Disk Drives," DARPA Grant DABT63-95-C-0028 Semiannual Report 4Q 1997."

31R. Horowitz and L.S. Fan, \High-Bandwidth, High-Accuracy MEMS Microposition- ers for Magnetic Disk Drives," DARPA Grant DABT63-95-C-0028 Quarterly Report 1Q 1998."

32R. Horowitz and L.S. Fan, \High-Bandwidth, High-Accuracy MEMS Microposition- ers for Magnetic Disk Drives," DARPA Grant DABT63-95-C-0028 Semiannual Report 2Q 1998."

33M. Krucinski, C. Cloet, R. Horowitz and M. Tomizuka, \Dynamics and optimal control approach for a general copier paper path," XEROX project progress report 1, May 1997.

34M. Krucinski, C. Cloet, R. Horowitz and M. Tomizuka, \Intersheet spacing control for a general paper path," XEROX project progress report 2, August 1997.

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35 M. Krucinski, C. Cloet, R. Horowitz and M. Tomizuka, \Motor selection, model- ing, identi￿cation and control of a paper path experimental setup," XEROX project progress report 3, November 1997.

36 S. Aggarwal and R. Horowitz, \Design And Control Of Micro-Actuators For High Density Disk Drives," CML Report 97-20, December 1997.

37C. Chan and R. Horowitz, \Implementation Of An Adaptive Repetitive Compensation Algorithm For Tracking-Following Disk File Servos," CML Report 97-23, December 1997.

38D. Horsley, S. Aggarwal, R. Horowitz, A.P. Pisano and A. Singh, \MEMS For Ultra- High Density Hard Drives," CML Report 97-24, December 1997.

39M. Krucinski, C. Cloet, R. Horowitz and M. Tomizuka, \Co-operative control algo- rithms for control of copier paper path: co-operative intersheet spacing control, Lya- punov control and pseudo-inverse control," XEROX project progress report 4, Novem- ber 1998.

40R. Horowitz, S. Sastry, P. Varaiya, L. Alvarez, K. Leung, C. Toy and D. Gulick , \Emergency vehicle Maneuvers and Control Laws for Automated Highway Systems," PATH Report to CALTRANS 98-C2, 1998.

41M. Krucinski, C. Cloet, R. Horowitz and M. Tomizuka, \A Mechatronics Approach to Copier Paperpath Control." Internal report ESRC 2000-06 (Engineering Systems Research Center), August 2000.

42Y. Li and R. Horowitz, \Mechatronics of Electrostatic Microactuators for Computer Disk Drive Dual-Stage Serve Systems," UCB-CML Repor t00-04, August 2000.

43Masahito Kobayashi and Roberto Horowitz, \Track Seek Control for Hard Disk Dual-Stage Servo Systems," UCB-CML Report, December 2000.

44Tsung-Lin (Tony) Chen and Roberto Horowitz, \Design and Fabrication of PZT- Actuated Silicon Suspensions," UCB-CML Report, December 2000.

45Charmaine Toy, Kevin Leung, Luis Alvarez, Roberto Horowitz, \Emergency Vehicle Maneuvers and Control Laws for Automated Highway Systems". PATH Research Report UCB-ITS-PRR-2001-17, 2001.

46Jingang Yi, Adam Howell, Roberto Horowitz, Karl Hedrick, Luis Alvarez, \Fault Detection and Handling for Longitudinal Control". PATH Research Report UCB-ITS- PRR-2001-21, 2001.

47Yunfeng Li and Roberto Horowitz, \Design and Testing of Track-Following Con- trollers for Dual-Stage Servo Systems with PZT Actuated Suspensions," UCB-CML Report, November, 2001.

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48Sungsu Park, Roberto Horowitz, Chin-woo Tan, \Adaptive Control for Conventional Modes of Operation of MEMS Gyroscopes." PATH Research Report UCB-ITS-PRR- 2002-10, 2002.

49Sungsu Park, Roberto Horowitz, Chin-woo Tan, Adaptive Control for MEMS Gy- roscopes PATH Research Report UCB-ITS-PRR-2002-11, 2002.

50Sungsu Park, Roberto Horowitz, Chin-woo Tan, \Digital Implementation of Adap- tive Control Algorithms for MEMS Gyroscopes". PATH Research Report UCB-ITS- PRR-2002-12, 2002.

51Jingang Yi, Shashikanth Suryanarayanan, Adam Howell, Roberto Horowitz, Masayoshi Tomizuka, Karl Hedrick, Luis Alvarez, \Development and Implementation of a Vehicle- Centered Fault Diagnostic and Management System for the Extended PATH-AHS Ar- chitecture: Part I". PATH Research Report UCB-ITS-PRR-2002-34, 2002.

52Jingang Yi, Shashikanth Suryanarayanan, Adam Howell, Roberto Horowitz, Masayoshi Tomizuka, Karl Hedrick, Luis Alvarez, \Development and Implementation of a Vehicle- Centered Fault Diagnostic and Management System for the Extended PATH-AHS Ar- chitecture: Part II". PATH Research Report UCB-ITS-PRR-2002-35, 2002.

53Xinghui Huang, Yunfeng Li, and Roberto Horowitz, \Design and Analysis of Com- puter Disk Drive Suspension Vibration Compensation Control," UCB-CML Report, December 2002.

54Roberto Horowitz, \Development of Integrated Meso/Microscale Tra￿c Simulation Software for Testing Fault Detection and Handling Algorithms in AHS: Final Report". PATH Research Report UCB-ITS-PRR-2003-13, 2003.

55Roberto Horowitz, Tsung-Lin Chen, Kenn Oldham, and Yunfeng Li. "Design, Fab- rication and Control of Micro-Actuators for Dual-Stage Servo Systems in Magnetic Disk Files," CML Report, October 2003. (PDF File)

56Kenn Oldham, Stanley Kon and Roberto Horowitz. "Fabrication and Optimal Strain Sensor Placement in an Instrumented Disk Drive Suspension for Vibration Sup- pression," CML Report, October 2003. (PDF File)

57Xinghui Huang, Roberto Horowitz and Yunfeng Li. "Track-Following Control with Active Vibration Damping and Compensation of a Dual-Stage Servo System," CML Report, October 2003. (PDF File)

58Gabriel Gomes, Adolf May and Roberto Horowitz. "Calibration of VISSIM for a Congested Freeway." California PATH Research Report, UCB-ITS-PRR-2004-4, March 2004 (PDF File)

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59Roberto Horowitz, Chin-Woo Tan, Xiaotian Sun. "An E￿cient Lane Change Ma- neuver for Platoons of Vehicles in an Automated Highway System", UCB-ITS-PRR-

2004-16, January 2005 (PDF File)

60 Kenn Oldham, Xinghui Huang and Roberto Horowitz. "Design, Fabrication, and Control of a High-Aspect Ratio Microactuator for Vibration Suppression in a Hard Disk Drive," CML Report, December 2004. (PDF File)

61Ryozo Nagamune, Xinghui Huang and Roberto Horowitz. "Robust Track-Following for Dual-Stage Servo Systems by Sensitivity Shaping with Degree Constraint." CML Report, December 2004. (PDF File)

62Stanley Kon and Roberto Horowitz. "Strain Sensor Design and Fabrication in Instrumented Suspensions." CML Report, January 2005. (PDF File)

63Roberto Horowitz, Adolf May, Alex Skabardonis, Pravin Varaiya, Michael Zhang, Gabriel Gomes, Laura Muoz, Xiaotian Sun and Dengfeng Sun. "Design, Field Im-

plementation and Evaluation of Adaptive Ramp Metering Algorithms TO4136 Final Report, UCB-ITS-PRR-2005-2, January 2005 (PDF File)

64Ryozo Nagamune, Xinghui Huang and Roberto Horowitz. "Multi-rate track-following control with robust stability for a dual-stage multi-sensing servo system in HDDs." CML Report, March 2005. (PDF File)

65Ryozo Nagamune, Xinghui Huang and Roberto Horowitz. "Robust Control Syn- thesis Techniques for Multirate and Multi-sensing Track-following Servo Systems in HDDs." CML Report, March 2005. (PDF File)

66Xinghui Huang, Roberto Horowitz and Yunfeng Li. "A Comparative Study of MEMS Microactuators for Use in a Dual-stage Servo with an Instrumented Suspen- sion." CML Report, November 2005. (PDF File)

67Xinghui Huang, Ryozo Nagamune, and Roberto Horowitz. "A Comparison of Mul- tirate Robust Track-Following Control Synthesis Techniques for Dual-Stage and Multi- Sensing Servo Systems in Hard Disk Drives." CML Report, November 2005. (PDF File)

68Ryozo Nagamune, Xinghui Huang, and Roberto Horowitz. "Robust Control Syn- thesis Techniques for Multirate and Multi-sensing Track-following Servo Systems in HDDs." CML Report, November 2005. (PDF File)

3Books

1 Xinghui Huang, and Roberto Horowitz. \Robust Control of Dual-Stage Servo Sys- tems in Hard Disk Drives." VDB Verlag Dr. Muller Aktiengesellschaft & Co. KG, Dudweiler Landstr. 125 a, Germany. ISBN: 978-3-639-01507-2, 2008.

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3.1Book Chapters

1 N. Sadegh and R. Horowitz, \An Exponentially Stable Adaptive Control Law for Robot Manipulators," in Advances in Adaptive Control, edited by K. S. Narendra, R. Ortega and P. Dorato, pp. 357-363, IEEE Press, 1991.

2W.W. Kao, R. Horowitz, M. Tomizuka and M. Boals, \Repetitive Control of a Two Degree of Freedom SCARA Manipulator," in Advances in Adaptive Control, edited by K. S. Narendra, R. Ortega and P. Dorato, pp. 377-383, IEEE Press, 1991.

3N. Sadegh and R. Horowitz, \Stability Analysis of an Adaptive Controller for Robotic Manipulators," in Robot Control : Dynamics, Motion Planning, and Analysis, edited by M. W. Spong, F. L. Lewis and C. T. Abdallaw, IEEE Press, 1993.

4C. Canudas-de-Wit, P. Tsiotras, X. Claeys, J. Yi, and R. Horowitz, \Friction Tire/Road Modeling, Estimation and Optimal Braking Control," in Nonlinear and Hybrid Sys- tems in Automotive Control, Edit. R. Johansson and A. Rantzer, Springer Verlag, ISBN1-85233-652-8, 2003.

5 R. Horowitz, T.L. Chen, K. Oldham and Y. Li, \Design, Fabrication and Control of Micro-Actuators for Dual-Stage Servo Systems in Magnetic Disk Files," in Springer Handbook of Nanotechnology, Edit. Bharat Bushan. January 2004. (PDF File)

6R. Horowitz, X. Sun and L. Mu~noz, \Modeling, Estimation, and Control of Freeway Tra￿c," in Advances in Control, Communication Networks, and Transportation Sys- tems In Honor of Pravin Varaiya. Birkh•auser Series: Systems & Control: Foundations & Applications, Edit. Abed, E. H. 2005.

7R. Horowitz, T.L. Chen, K. Oldham , X. Huang, R. Nagamune and Y. Li, \Design, Fabrication and Control of Micro-Actuators for Dual-Stage Servo Systems in Mag- netic Disk Files," Springer Handbook of Nanotechnology, Second Edition, Edit. Bharat Bushan. ISBN: 978-3-540-29855-7, 2006. (PDF File)

8R. Conway, J. Nie and R. Horowitz, \H2 Guaranteed Cost Control in Track-Following Servos," in Control Technologies for Emerging Micro and Nanoscale Systems, Edit. E. Eleftheriou and S. O. R. Moheimani. Lecture Notes in Control and Information Sciences Volume 413, pp 235-270 (2011). (PDF File)

4Patents

1.Optimizing Exercise Machines, (P. Li, J.F. Shields, and S.L. Lehman, co-inventors). Issued on April 1998. Assigned to the Regents of the University of California.

2.Interpaper Spacing Control in Media Handling Systems, (M. Krucinski, C. Cloet, M. Tomizuka, S. Rai, and D. Kamprath, co-inventors). Issued on November 2001. As- signed to the Xerox Corporation.

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