HOROWITZ GROUP

Our recent publications are listed below. A full list of publications of Prof. Horowitz can be found here

Archived Journals

S. 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.
S.-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.
K. 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.
K. Ohno, M. Hirata and R. Horowitz, "A Comparative Study of the Use of the Generalized Hold Function for HDDs," IEEE/ASME Transactions on Mechatronics,vol.10, no.1, pp.26-33, Feb. 2005.
Xinghui 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.
Alvarez 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.
K. 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.
Xinghui Huang, Horowitz R and Yunfeng Li. "Track-following control with active vibration damping and compensation of a dual-stage servo system." Microsystems Technologies. Springer-Verlag GmbH, Vol. 11, No. 12, pp.1276-1286, Nov. 2005.
Raymond 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.
Xinghui Huang, Ryozo Nagamune and Roberto Horowitz, "A Comparison of Multirate 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.
S.-H. Lim, R Horowitz, and A. Majumdar. "Modeling and performance of two types of piston-like out-of-plane motion micromechanical structures." Journal of Micromechanics and Microengineering, Volume 16, Number 7, July 2006.
Xinghui Huang, Horowitz R and Yunfeng Li. "Comparative Study of MEMS Microactuators 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)
Jingang Yi and Roberto Horowitz,"Macroscopic Traffic Flow Propagation Stability for Adaptive Cruise Controlled Vehicles." Transportation Research, Part C, vol.14, no.2, pp. 81-95, April 2006.
Yunfeng 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.
Laura Muñoz, Xiaotian Sun, Roberto Horowitz and Luis Alvarez,"A Piecewise-Linearized Cell Transmission Model and Parameter Calibration Methodology." Transportation Research Records (TRR), the Journal of the Transportation Research Board No. 1965, pp. 183-191, 2006 .
Xiaotian Sun and Roberto Horowitz, "A Set Of New Traffic-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.
Roberto Horowitz, Yunfeng Li, Kenn Oldham, Stanley Kon and Xinhui Huang."Dual-Stage Servo Systems and Vibration Compensation in Computer Hard Disk Drives." Accepted for publication in the IFAC Journal of Control Engineering Practice, vol.15, no.3, pp. 291-305, March 2007.
Gabriel Gomes and Roberto Horowitz. "Optimal freeway ramp metering using the asymmetric cell transmission model." Transportation Research C: Emerging Technologies. vol.14, no.4, pp. 244-62, Aug. 2006.
Ryozo Nagamune, Xinghui Huang and Roberto Horowitz. "Robust Control Synthesis 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.
Conway R, Felix S and Horowitz R., "Model reduction and parametric uncertainty identification for robust control synthesis for dual-stage hard disk drives." IEEE Transactions on Magnetics, vol.43, no.9, Sept. 2007, pp. 3763-8.
Sungsu 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.
Sungsu 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
Gomes G, Horowitz R., Kurzhanskiy AA, Varaiya P and Jaimyoung Kwon. "Behavior of the cell transmission model and effectiveness of ramp metering." Transportation Research Part C: Emerging Technologies, vol.16, no.4, Aug. 2008, pp. 485-513.
Kon 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.
Jongeun Choi, Ryozo Nagamune and Roberto Horowitz. "Multiple robust track-following controller design in hard disk drives" International Journal of Adaptive Control and Signal Processing. v 22, n 4, pp 359-373, May 2008.
E. Ergueta, R. Sanchez, Horowitz R. and M. Tomizuka, "Convergence Analysis of a Steerable Nips Mechanism for Full Sheet Control in Printing Devices.' Accepted for Publication in the ASME Journal of Dynamic Systems Measurement and Control. (August 2008).
R. Sanchez, Horowitz R. and M. Tomizuka, "Full Sheet Control Using Steerable Nips." Accepted for publication in the IEEE/ASME Transaction on Mechatronics. (June 2009). (PDF File)
Muralidharan, A. and Horowitz R.. "Imputation of Ramp Flow Data for Freeway Traffic Simulation", Accepted for publication in the 2009 Transportation Research Record (TRR), the Journal of the Transportation Research Board. (February 2009).
Conway R. and Horowitz R., "Guaranteed Cost Control for Linear Periodically Time-Varying Systems with Structured Uncertainty and a Generalized H2 Objective." Accepted for publication in the IFAC Journal of Mechatronics, (July 13, 2009).
Edgar I. Ergueta; Robert Seifried; Roberto Horowitz, "Ä Robust Approach to Dynamic Feedback Linearization for a Steerable Nips Mechanism." Accepted for publication in the ASME Journal of Dynamic Systems Measurement and Controls (July 28 2009).
Jongeun Choi, Songhwai Oh and Roberto Horowitz. "Distributed Learning and Cooperative Control for Multi-Agent Systems." Accepted for publication in Automatica. (August 25, 2009). (PDF File)
Jongeun Choi, and Roberto Horowitz. "Learning Coverage Control of Mobile Sensing Agents in One-Dimensional Stochastic Environments." Accepted for publication in IEEE Transactions on Automatic Control. (October 10, 2009).
Richard Conway, Jongeun Choi, Ryozo Nagamune, and Roberto Horowitz. "Robust Track-Following Controller Design in Hard Disk Drives Based on Parameter Dependent Lyapunov Functions." Accepted for publication in IEEE Transactions on Magnetics. (November, 2009)

Conference and Symposium Proceedings

Gabriel 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.
Gabriel 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.
Sanchez R., Horowitz R., Tomizuka M. and Simic SN. "Full Paper Sheet Control Using Hybrid Automata." in Hybrid Systems: Computation and Control. Proceedings of the 7th International Workshop, HSCC 2004.(Lecture Notes in Comput. Sci. Vol.2993). Springer-Verlag. 2004, pp.523-38. Berlin, Germany.
Xiaotian Sun and Roberto Horowitz, "Localized Switching Ramp-Metering Controller 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.
Jongeun 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.
Xinghui Huang, Roberto Horowitz and Yunfeng Li, "Design and Analysis of Robust Track-Following Controllers for Dual-Stage Servo Systems with an Instrumented Suspension," Proceedings of the 2005 American Control Conference, Portland, Or, IEEE. Part vol. 2, 2005, pp.1126-31 vol. 2, Jun. 8-10, 2005.
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 ," Proceedings of the 16th IFAC World Congress, Prague, Czech Republic, July 4-8, 2005.
Xiaotian 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.
Ryozo 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.
Xiaotian Sun and Roberto Horowitz, "A Set Of New Traffic-Responsive Ramp-Metering Algorithms And Microscopic Simulation Results." Proceedings of the Transportation Research Board (TRB) 85th Annual Meeting, Washington D.C., January 22-26, 2006.
Laura Muñoz, Xiaotian Sun, Roberto Horowitz and Luis Alvarez,"A Piecewise-Linearized Cell Transmission Model and Parameter Calibration Methodology." Proceedings of the Transportation Research Board (TRB) 85th Annual Meeting, Washington D.C., January 22-26, 2006.
S. Kon, O. Kenn, R. Ruzicka, and R. Horowitz, "Design and fabrication of a piezoelectric 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.
Ryozo 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.
Xinghui Huang, Ryozo Nagamune, and Roberto Horowitz, "A Comparison of Multirate 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.
Jongeun 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.
Jongeun Choi, Ryozo Nagamune and Roberto Horowitz, "Multiple Robust Controller 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.
Leonardo 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 Systemics, Cybernetics and Informatics, Miami, Florida, July 2006.
Rene 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 Heidelberg, Germany, pp. 277-82, September 12th-14th, 2006
R. Conway, S. Felix, and R. Horowitz. "Parametric uncertainty identification and model reduction for dual-stage robust H2 track-following control synthesis." Asia-Pacific Magnetic Recording Conference 2006, November 2006.
Kon 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.
Conway R, Felix S, Horowitz, R., "Parametric uncertainty identification 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 finalist).
Ergueta, E., Horowitz, R., Sanchez, R. and Tomizuka, M. "Full sheet control through the use of steer-able nips." Proceedings of the ASME International Mechanical Engineering Congress and Exposition (IMECE 2007) Mechanical Systems and Control, v 9 PART B, pp 773-782, 2008.
Choi, 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.
Richard Conway and Roberto Horowitz, Ä 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.
Edgar Ergueta, Robert Seifried, Roberto Horowitz and Masayoshi Tomizuka, Ëxtended Luenberger Observer for a MIMO Nonlinear Nonholonomic System," Proceedings of the 17th World Congress The International Federation of Automatic Control, pp 9260-9265, Seoul, Korea, July 6-11, 2008.
Kenn Oldham, Sarah Felix, Richard Conway, and Roberto Horowitz, "Design and Control of a Dual-Stage Disk Drive Servo System with a High-Aspect Ratio Electrostatic Microactuator," Proceedings of the 2008 American Control Conference, pp 4400-4406, Westin Seattle Hotel, Seattle, Washington, USA, June 11-13, 2008
Sarah 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.
A. 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, Michigan, USA, October 20-22, 2008.
Edgar I. Ergueta; Robert Seifried; Roberto Horowitz, Ä Robust Approach to Dynamic 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.
Richard Conway, Roberto Horowitz, Ä Quasi-Newton Algorithm for LQG Controller Design With Variance Constraints," PAPER: DSCC2008-2239, 2008 ASME Dynamic Systems and Control Conference, Ann Arbor, Michigan, USA, October 20-22, 2008.
X. 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
S. Felix, R. Horowitz, Ënhanced vibration suppression in HDDs using instrumented suspensions," Asia Pacific Magnetic Recording Conference, Singapore, Jan. 2009.
Dervisoglu, D., Gomes, G., Kwon, J.,Horowitz, R. and Varaiya, P. "Automatic Calibration of the Fundamental Diagram and Empirical Observations on Capacity." 88th Annual Meeting, of the Transportation Research Board, Washington, D.C. January 2009.
Muralidharan, A. and Horowitz, R. "Imputation of Ramp Flow Data for Freeway Traffic Simulation." 88th Annual Meeting, of the Transportation Research Board, Washington, D.C. January 2009.
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
X. Y. Lu, P. Varaiya, R. Horowitz, and A. Skabardonis, Fundamental Diagram Modeling from NGSIM Data, to be presented at 2nd International Symposium on Freeway and Tollway Operations, Honolulu, Hawaii - June 21-24, 2009
Richard Conway and Roberto Horowitz, Änalysis of H2 Guaranteed Cost Performance," Accepted for presentation (6/23/09) in the 2009 ASME Dynamic Systems and Control Conference, Hollywood, California, October 12-14, 2009.
Ajith Muralidharan and Roberto Horowitz, Ïmputation of Ramp Flow Data using the Asymmetric Cell Transmission Traffic Flow Model ," Accepted for presentation (6/23/09) in the 2009 ASME Dynamic Systems and Control Conference, Hollywood, California, October 12-14, 2009.
Jianbin Nie and Roberto Horowitz, "Design and Implementation of Dual-Stage Track-Following Control for Hard Disk Drives," Accepted for presentation (6/23/09) in the 2009 ASME Dynamic Systems and Control Conference, Hollywood, California, October 12-14, 2009.
J. Huper, G. Dervisoglu, A. Muralidharan, G. Gomes, R. Horowitz and P. Varaiya. "Macroscopic Modeling and Simulation of Freeway Traffic Flow." Accepted for presentation (5/21/09) at the 12th IFAC Symposium on Control in Transportation Systems, Redondo Beach California September 2-4, 2009.
X.-Y. Lu, P. Varaiya and R. Horowitz. "An Equivalent Second Order Model with Application to Traffic Control." Accepted for presentation (5/21/09) at the 12th IFAC Symposium on Control in Transportation Systems, Redondo Beach California September 2-4, 2009.
X.-Y. Lu, P. Varaiya, R. Horowitz and A. Skabardonis. "Fundamental Diagram Modeling and Analysis Based NGSIM Data." Accepted for presentation (5/21/09) at the 12th IFAC Symposium on Control in Transportation Systems, Redondo Beach California September 2-4, 2009.
R. Sanchez, R. Horowitz and P. Varaiya "Hardware-In-The-Loop On-Ramp Simulation Tool to Debug and Test the Universal Ramp Metering Software." Accepted for presentation (5/21/09) at the 12th IFAC Symposium on Control in Transportation Systems, Redondo Beach California September 2-4, 2009.
Jianbin Nie and Roberto Horowitz, "Design and Implementation of Dual-Stage Track-Following Control for Hard Disk Drives," (Lead Tutorial paper) 2010 American Control Conference (ACC), Baltimore, MD, June 30-July 2, 2010.
Xiao-Yun Lu, Tony Z. Qiu, Pravin P. Varaiya, Roberto Horowitz, Steven E. Shladover, "Combining Variable Speed Limits with Ramp Metering for Freeway Traffic Control."2010 American Control Conference (ACC), Baltimore, MD, June 30-July 2, 2010.
Richard 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.
Jianbin Nie, Roberto Horowitz, "Optimal H Infinity Control for Linear Periodically Time-varying Systems in Hard Disk Drives," PAPER: DSCC2010-4285, 2010 ASME Dynamic Systems and Control Conference, Cambridge, Massachusetts, USA, September 13-15, 2010.