Books (1)

1. Automotive Model Predictive Control: Models, Methods and Applications. Series: Lecture Notes in
Control and Information Sciences, Re, L.; Allgöwer, F.; Glielmo, L.; Guardiola, C. and
Kolmanovsky, I. (Eds.), Springer, 2010, ISBN: 978-1-84996-070-0,
http://www.springer.com/engineering/book/978-1-84996-070-0.

Refereed Journal Papers and Book Chapters (79)

1. Ong, C., Annaswamy, A., Kolmanovsky, I.V., Laing, P., Reed, D., “An adaptive proportional
integral control of a urea Selective Catalytic Reduction System based on System Identification
Models,” SAE Journal of Fuels and Lubricants, Vol. 3, No. 1, pp. 625-642, 2010.
2. Ghaemi, R., Kolmanovsky, I.V., and Sun, J., “Robust control of linear systems with disturbances
bounded in a state dependent set,” IEEE Transactions on Automatic Control, accepted for
publication.
3. Hrovat, D., Jankovic, M., Kolmanovsky, I., Magner, S., and Yanakiev, D., ``Powertrain Control”, in
IEEE Control Systems Handbook, 2nd Edition, W. Levine Editor, 2010, (50 pages), accepted for
publication.
4. Yildiz, Y., Annaswamy, A., Yanakiev, D., and Kolmanovsky, I., “Spark-ignition-engine idle speed
control: An adaptive control approach,” IEEE Transactions on Control Systems Technology,
2010, accepted for publication.
5. Kasac, J., Deur, J., Novakovic, B., Kolmanovsky, I., and Assadian, F., “A conjugate gradient-
based BPTT-like optimal control algorithm with vehicle dynamics control application,” IEEE
Transactions on Control Systems Technology, accepted for publication.
6. Yildiz, Y., Annaswamy, A., Yanakiev, D., and Kolmanovsky, I.V., “Spark ignition engine fuel-to-air
ratio control: An adaptive control approach,” Control Engineering Practice, 2010, accepted for
publication.
7. D. Rotenberg, A. Vahidi, and I. Kolmanovsky, “Ultracapacitor assisted powertrains: Modeling,
control, sizing and the impact on fuel economy,” IEEE Transactions on Control Systems
Technology, Vol. 99, pp. 1-14, 2010.
8. Di Cairano, S., Yanakiev, D., Bemporad, A., Kolmanovsky, I.V., and Hrovat, D., “Model predictive
control: An application to idle speed regulation,” In Automotive Model Predictive Control: Models,
Methods and Applications. Series: Lecture Notes in Control and Information Sciences, Re, L.;
Allgöwer, F.; Glielmo, L.; Guardiola, C. and Kolmanovsky, I. (Eds.), Springer, 2010, pp. 183-194.
9. Yildiz, Y., Annaswamy, A., Kolmanovsky, I.V., and Yanakiev, D., “Adaptive posicast controller for
time-delay systems with relative degree less or equal than 2,” Automatica, Vol. 46, No. 2, pp.
279-289, 2010.
10. Ghaemi, R., Sun, J., and Kolmanovsky, I.V., "Neighboring extremal method for constrained
discrete-time optimal control problems,” IEEE Transactions on Automatic Control, Vol. 54, No. 11,
pp. 2674-2679, November, 2009.
11. Ghaemi, R., Sun, J., and Kolmanovsky, I.V., " Model Predictive Control for constrained discrete-
time systems: An integrated perturbation analysis and Sequential Quadratic Programming
approach," Automatica, Volume 45, Issue 10, October 2009, Pages 2412-2418.
12. Rinehart, M., Dahleh, M., and Kolmanovsky, I.V., “Value iteration for switched homogeneous
systems,” IEEE Transactions on Automatic Control, Vol. 54, No. 6., 2009, pp. 1290-1294.
13. Ripaccioli, G., Bemporad, A., Assadian, F., Dextreit, C., Di Cairano, S., and Kolmanovsky, I.V.,
“Hybrid modeling, identification, and predictive control: an application to hybrid electric vehicle
energy management,” in Hybrid Systems: Computation and Control, R. Majumdar and P.
Tabuada, Eds., Lecture Notes in Computer Science. Springer-Verlag, Berlin Heidelberg, 2009
14. Jankovic, M., and Kolmanovsky, I.V., “Developments in control of time-delay systems for
automotive powertrain applications,” (book chapter) in “Delay Differential Equations: Recent
Advances and New Directions,” edited by Balachandran, B.; Kalmár-Nagy, T.; Gilsinn, D. E.,
http://www.springer.com/engineering/book/978-0-387-85594-3, pp. 55-93, Springer, March, 2009.
15. McCain, B., Stefanopoulou, A., and Kolmanovsky, I.V., “A dynamic semi-analytic channel-to-
channel model of two-phase water distribution for a fuel cell unit,” IEEE Transactions on Control
Systems Technology, Vol. 17, No. 5, September 2009, pp. 1055-1068.
16. Sun, J., Ghaemi, R., and Kolmanovsky, I.V., “Developments in receding horizon optimization-
based controls: Towards real-time implementation for nonlinear systems with fast dynamics,” in
“Advances in Control Theory and Applications,” (book chapter), Editors G. Tao and J. Sun, USTC
Press, 2009.
17. Orlov, Y., Kolmanovsky, I.V., and Gomez, O., “Adaptive identification of linear time-delay
systems: from theory toward application to engine transient fuel identification,” International
Journal of Adaptive Control and Signal Processing, Vol. 23, No. 2, pp. 150-165, 2009.
18. Pavkovic, D., Deur, J., and Kolmanovsky, I.V., “Adaptive Kalman Filter-based load torque
compensator for improved SI engine idle speed control,” IEEE Transactions on Control Systems
Technology, Vol. 17, No. 1, pp. 98-110, 2009.
19. McCain, B., Stefanopoulou, A., and Kolmanovsky, I.V., “On the dynamics and control of through-
plane water distributions in PEM fuel cells,” Chemical Engineering Science, 2008, Vol. 63, Issue
20, pp. 4889-5106, October, 2008.
20. Pavkovic, D., Deur, J., Kolmanovsky, I.V., and Hrovat, D., “Application of adaptive Kalman filter
for estimation of powertrain variables,” SAE Transactions, SAE International Journal of
Passenger Cars – Mechanical Systems, Vol. 1, No. 1, pp. 480-491, April, 2009.
21. Kolmanovsky, I.V. and Yanakiev, D., “Speed gradient control of nonlinear systems and its
applications to automotive engine control,” Journal of Society of Instrumentation and Control
Engineers (SICE), vol. 47, no. 3, pp. 160-169, 2008.
22. Krivtsov, V.V., Kolmanovsky, I.V., and Davis, T.P., “A constrained quadratic spline as a model for
the cumulative hazard functions,” International Journal of Reliability and Safety, Special Issue on
“Modeling and Analysis of Automobile Warranty Data”, Vol. 2., No. 3, pp. 170-178, 2008.
23. Rinehart, M., Dahleh, M., Reed, D., and Kolmanovsky, I.V., "Suboptimal control of switched
systems with an application to DISC engine," IEEE Transactions on Control Systems Technology,
Vol. 16, No. 2, pp. 189-201, 2008.
24. Kolmanovsky, I.V., Lezhnev, L., and Maizenberg, T.L., "Discrete-time drift counteraction
stochastic optimal control: Theory and application-motivated examples," Automatica, vol. 44, no.
1, pp 177-184, 2008.
25. Sun, J., Kolmanovsky, I.V., Ghaemi, R., and Chen, S., "A stable block model predictive control
with variable implementation horizon," Automatica, vol. 43, no. 11, pp. 1945-1953, November,
2007.
26. Gomez, O., Orlov, Y., and Kolmanovsky, I.V. "On-line identification of SISO linear time-delay
systems from output measurements: Identifiablity analysis, identifier synthesis, and application to
engine transient fuel identification," Automatica, vol. 43, no. 12, pp. 2060-2069, December, 2007.
27. Di Cairano, S., Bemporad, A., Kolmanovsky, I.V., and Hrovat, D., "Model predictive control of
magnetically actuated mass spring dampers for automotive applications," International Journal of
Control, vol. 80, no. 11, pp. 1701-1706, 2007.
28. Stotsky, A., Solyom, S., and Kolmanovsky, I.V., "Engine control using speed feedback,"
International Journal of Automotive Technology, vol. 8, no. 4, pp. 477-481, 2007.
29. Brennan, S., Buckland, J., Christen, U., Haskara, I.V., and Kolmanovsky, I.V., ``Editorial: Special
issue on control applications in automotive engineering,” IEEE Transactions on Control Systems
Technology, vol. 15, no. 3, pp. 403-405, March, 2007.
30. Cook, J., Kolmanovsky, I.V., McNamara, D., Nelson, E., and Prasad, K., "Control, computing and
communications: Technologies for the twenty-first century Model T," Proceedings of the IEEE,
February, 2007, vol. 95, no. 2, pp. 334-355, 2007.
31. Vahidi, A., Kolmanovsky, I.V., and Stefanopolou, A., "Constraint handling in a fuel cell system: A
fast reference governor approach," IEEE Transactions on Control Systems Technology, vol. 15,
no. 1, pp. 86-98, January, 2007.
32. Cook, J., Sun, J., Buckland, J.H., Kolmanovsky, I.V., Peng, H., and Grizzle, J.W., "Automotive
powertrain control – A survey," Asian Journal of Control, Special Issue on New Trends in
Automotive Powertrain Systems, vol. 8, no. 3, pp. 237-261, September, 2006.
33. Kolmanovsky, I.V., Sun, J., and Sivashankar, S.N., "An integrated software environment for
powertrain feasibility assessment using optimization and optimal control," Asian Journal of
 Control, Special Issue on New Trends in Automotive Powertrain Systems, vol. 8, no. 3, pp. 199-
209, September, 2006.
34. Giorgetti, N., Ripaccioli, G., Bemporad, A., Kolmanovsky, I.V. and Hrovat, D., "Hybrid model
predictive control of direct injection stratified charge engines," IEEE/ASME Transactions on
Mechatronics, vol. 11, no. 5, pp. 499-506, 2006.
35. Kolmanovsky, I.V., Sivergina, I.V., and Sun, J., "Simultaneous input and parameter estimation
with input observers and set-membership parameter bounding: Theory and an automotive
application," International Journal of Adaptive Control and Signal Processing, vol. 20, no. 5, pp.
225-246, 2006.
36. Kolmanovsky, I.V., Polis, M., and Sivergina, I.V., "Identification of the heat flux in a quasi-static
thermoelastic system," ASME Journal of Dynamic Systems, Measurement and Control, vol. 128,
pp. 608-616, 2006.
37. Kolmanovsky, I.V., and Sun, J., "Parameter governors for discrete-time nonlinear systems with
pointwise-in-time state and control constraints," Automatica, vol. 42, pp. 841-848, 2006.
38. Sun, J., and Kolmanovsky, I.V., "Load governor for fuel cell oxygen starvation protection: A robust
nonlinear reference governor approach," IEEE Transactions on Control Systems Technology, vol.
13, no. 6, November, pp. 991-919, 2005.
39. Stotsky, A., Kolmanovsky, I.V., and Eriksson, S., “Composite adaptive and input observer-based
approaches to the cylinder flow estimation in spark ignition automotive engines,” International
Journal of Adaptive Control and Signal Processing, vol. 18, no. 2, pp. 125-144, March, 2004.
40. Kim, Y.-W., Sun, J., Kolmanovsky, I.V., and Koncsol, J., “A phenomenological control-oriented lean
NOx trap model,” 2003 SAE Transactions - Journal of Fuels and Lubricants, Vol. 112, SAE Paper
2003-01-1164, pp. 795-800, 2003.
41. Sivergina, I.V., Polis, M., and Kolmanovsky, I.V., “Source identification for parabolic equations,”
Mathematics of Control, Signals and Systems, vol. 16, no. 2, pp. 141-157, 2003.
42. Kolmanovsky, I.V., and Maizenberg, T.L., “Optimal containment control for a class of stochastic
systems perturbed by Poisson and Wiener Processes,” IEEE Transactions on Automatic Control,
vol. 47, no. 12, December, 2002.
43. Stotsky, A., and Kolmanovsky, I.V., “Application of input estimation techniques to charge
estimation and control in automotive engines,” IFAC Journal of Control Engineering Practice, vol.
10, no. 12, pp. 1371-1383, December, 2002.
44. Kolmanovsky, I.V., Druzhinina, M., and Sun, J., “Speed-gradient approach to torque and air-to-
fuel ratio control in DISC engines,” IEEE Transactions on Control System Technology, vol. 10, no.
5, pp. 671-678, September, 2002.
45. Gilbert, E., and Kolmanovsky, I.V., “Nonlinear tracking control in presence of state and control
constraints: A generalized reference governor,” Automatica, vol. 38, no. 12, pp. 2063-2073, 2002.
46. Kolmanovsky, I.V., and Gilbert, E., “Support vector machine-based determination of gasoline direct
injection engine admissible operating envelope,” SAE Transactions - Journal of Engines, Vol. 111, SAE
paper number 2002-01-1301, 2002.
47. Diop, S., Kolmanovsky, I.V., Moraal, P., and van Nieuwstadt, M., “Preserving
stability/performance when facing an unknown time-delay,” IFAC Journal of Control Engineering
Practice, vol. 9, no. 12, pp. 1319-1325, December, 2001.
48. Kolmanovsky, I.V., and Maizenberg, T.L., "Optimal control of continuous-time linear systems with
a time-varying, random delay, Systems and Control Letters, 2001, vol. 44, no. 2, pp. 119-126,
September, 2001.
49. van Nieuwstadt, M., and Kolmanovsky, I.V., "Detecting and correcting cylinder imbalance in direct
injection engines," ASME Journal of Dynamic Systems, Measurement and Control, vol. 123,
September 2001, pp. 413-424, 2001.
50. Kang, J.-M., Kolmanovsky, I.V., and Grizzle, J., "Dynamic optimization of lean burn engine
aftertreatment," ASME Journal of Dynamic Systems, Measurement and Control, vol. 123, pp.153-
160, June, 2001.
51. Kolmanovsky, I.V., and Stefanopoulou, A., "Optimal control techniques for assessing feasibility
and defining subsystem level requirements: An automotive case study," IEEE Transactions on
Control Systems Technology, vol. 9, no. 3, pp. 524-534, May 2001.
52. Kolmanovsky, I.V., and Stefanopoulou, A., "Evaluation of turbocharger power assist system using
optimal control techniques," SAE Transactions – Journal of Engines, Vol. 109, SAE paper number
2000-01-0519, 2000.
53. van Nieuwstadt, M., Kolmanovsky, I.V., and Moraal, P., “Coordinated EGR-VGT control for diesel
engines: An experimental comparison,” SAE Transactions – Journal of Engines, Vol. 109, SAE paper
number 2000-01-0266, 2000.
54. van Nieuwstadt, M., Kolmanovsky, I.V., Haghgooie, M., and Hammoud, M., "Air charge estimation in
camless engines," SAE Transactions - Journal of Engines, Vol.110, SAE paper number 2001-01-0581,
2001.
55. Kolmanovsky, I.V., and Maizenberg, T.L., "Mean-square stability of nonlinear systems with time-
varying, random delay," Stochastic Analysis and Applications, vol.19, no. 2, pp. 279-293, 2001.
56. Kolmanovsky, I.V., van Nieuwstadt, M., and Sun, J., “Optimization of complex powertrain systems
for fuel economy and emissions,” Nonlinear Analysis: Real World Applications, vol. 1, pp. 205-
221, 2000.
57. Rui, C., Kolmanovsky, I.V., and McClamroch, N. H., "Nonlinear attitude and shape control of
spacecraft with articulated appendages and reaction wheels," IEEE Transactions on Automatic
Control, vol.45, no.8, pp.1455-1469, August 2000.
58. Stefanopoulou, A., Kolmanovsky, I.V., and Freudenberg, J., "Control of variable geometry
turbocharged diesel engines for reduced emissions," IEEE Transactions on Control Systems
Technology, vol.8, no.4, pp. 733-745, July 2000.
59. McClamroch, N. H., and Kolmanovsky, I.V., "Performance benefits of hybrid control design for
linear and nonlinear systems," Proceedings of the IEEE, vol. 88, no. 7, pp. 1083-1096, July 2000.
60. van Nieuwstadt, M., Kolmanovsky, I.V., Moraal, P., Stefanopoulou, A.., and Jankovic, M., "EGR-
VGT control schemes: Experimental comparison for a high-speed diesel engines," IEEE Control
Systems Magazine, vol. 20, no. 3, pp. 63-79, June 2000.
61. Jankovic, M., Jankovic, M., and Kolmanovsky, I.V., "Constructive Lyapunov control design for
turbocharged diesel engines," IEEE Transactions on Control Systems Technology, vol.8, no.2,
pp. 288-299, March 2000.
62. Miller, R., Kolmanovsky, I.V., Gilbert, E., and Washabaugh, P.D., "Control of constrained
nonlinear systems: A case study," IEEE Control Systems Magazine, vol. 20, no.1, pp.23-32,
February 2000.
63. Moraal, P., and Kolmanovsky, I.V., "Turbocharger modeling for automotive control applications," SAE
Transactions – Journal of Engines, Vol. 108, SAE paper number 1999-01-0908, 1999.
64. Gilbert, E., and Kolmanovsky, I.V., "Fast reference governors for systems with state and control
constraints and disturbance inputs," International Journal of Robust and Nonlinear Control, vol. 9,
no. 15, pp. 1117-1141, December 1999.
65. Reyhanoglu, M., van der Schaft, A., McClamroch, N.H., and Kolmanovsky, I.V., "Dynamics and
control of a class of underactuated mechanical systems," IEEE Transactions on Automatic
Control, vol. 44, no. 9, pp. 1663-1671, September 1999.
66. Stefanopoulou, A., and Kolmanovsky, I.V., "Analysis and control of transient torque response in
engines with internal exhaust gas recirculation," IEEE Transactions on Control Systems
Technology, vol. 7, no. 5, pp. 555-566, September 1999.
67. Kolmanovsky, I.V., "Engineering applications of delay differential equations," invited chapter in a
book, Introduction to Theory and Applications of Functional Differential Equations, by V.
Kolmanovskii and A..Myshkis, Mathematics and its Applications, vol. 463, Kluwer Academic
Publishers, pp. 40-61, 1999.
68. Kolmanovsky, I.V., and McClamroch, N.H., "Hybrid feedback stabilization of rotational-
translational actuator (RTAC) system," International Journal of Robust and Nonlinear Control, vol.
8, no. 4-5, pp. 367-375, April 1998.
69. Kolmanovsky, I.V., and Gilbert, E., "Theory and computation of disturbance invariant sets for
discrete-time linear systems," Mathematical Problems in Engineering, vol. 4, pp. 317-367, 1998.
70. Kolmanovsky, I.V., Moral, P., van Nieuwstadt, M., Stefanopoulou, A., "Issues in modelling and
control of intake flow in variable geometry turbocharged engines," in: Systems Modelling and
Optimization. Edited by M.P. Polis et al. published by Chapman & Hall/ CRC, Chapman Hall/CRC
Research Notes in Mathematics, vol. 396, pp. 436-445, 1999.
 71. Kolmanovsky, I.V., and McClamroch, N.H., "Hybrid feedback laws for a class of cascade
nonlinear control systems," IEEE Transactions on Automatic Control, vol.41, no.9, pp.1271-1282,
September 1996.
72. Kolmanovsky, I.V., and McClamroch, N.H., "Stabilizing feedback laws for internally actuated
multibody systems in space," Nonlinear Analysis: Theory, Methods and Applications, vol. 26, no.
9, pp. 1461-1479, May 1996.
73. Kolmanovsky, I.V., and McClamroch, N.H., "Controllability and motion planning for noncatastatic
nonholonomic control systems," Mathematical and Computer Modelling, vol.24, no.1, pp. 31-42,
July 1996.
74. Dontchev, A.L., and Kolmanovsky, I.V., "Best interpolation in a strip. Reduction to unconstrained
convex optimization," Computational Optimization and Applications, vol.5, no.3, pp. 233-251, May
1996.
75. Kolmanovsky, I.V., Reyhanoglu, M., and McClamroch, N.H., "Switched mode feedback control
laws for nonholonomic systems in extended power form," Systems & Control Letters, vol. 27, no.
1, pp. 29-36, January 1996.
76. Kolmanovsky, I.V., and McClamroch, N.H., "Developments in nonholonomic control problems,"
IEEE Control Systems Magazine, vol.15, no.6, pp. 20-36, December 1995.
77. Dontchev, A.L., and Kolmanovsky, I.V., "State constraints in the linear regulator problem: Case
study," Journal of Optimization Theory and Applications, vol.87, no.2, pp. 323-347, November
1995.
78. Gilbert, E., Kolmanovsky, I.V., and Tan, K.T., "Discrete time reference governors and the
nonlinear control of systems with state and control constraints," International Journal of Robust
and Nonlinear Control, vol. 5, pp. 487-504, 1995.
79. Kolmanovsky, I.V., McClamroch, N.H., and Coppola, V.T., "New results on control of multibody
systems which conserve angular momentum," Journal of Dynamical and Control Systems, vol.1,
no.4, pp. 447-462, 1995.

Non-Refereed Journal Articles (2)

1. I. Kolmanovsky, T. Lee, A. Sanyal, and J. Shen, “HarrisFest”, IEEE Control Systems Magazine,
Vol. 30, No. 5, pp. 81-83, October, 2010.
2. D. Bernstein, I. Kolmanovsky, H. McClamroch, and J. Grizzle, “GilbertFest”, IEEE Control
Systems Magazine, Vol. 30, No. 4, pp. 114-116, August, 2010.

Book Reviews (3)

1. Winstead, V., and Kolmanovsky, I.V., "Constrained control and estimation: An optimization
approach (book review)," IEEE Control Systems Magazine, August, 2005, pp. 79-81.
2. Kolmanovsky, I.V., “Optimal control systems” (book review), Applied Mechanics Reviews, vol. 57, no. 1,
January 2004, pp. B3-B4.
3. Kolmanovsky, I.V., “Practical methods for optimal control using nonlinear programming” (book review),
Applied Mechanics Reviews, vol. 55, no. 4, July 2002, pp. B68.