- Member of the IEEE.
- Reviewer: Journal: Mathematical Reviews AMS (American Mathematical Society), IEEE/SMC Systems Man and Cybernetics journal, IEEE control systems and technology IEEE Transaction on Industrial Electronics, IEEE Transaction on Automatic Control, IEEE Transaction on Neural Network, European Journal Control, International Journal of Control, Journal Of systems and Control Engineering (Imech), Automatica,
- Involvement in International Conferences, organisation and review process.
- Invited Lectured/Seminars (Lille, Wisconsin, Berlin, Reading, Leicester, Glasgow)
- Industrial Collaborations (Stontronics, Scottish Southern Energy, Safe Training Systems Ltd, Rockwell Collins, KEC interconnect, GDS instrument, Salisbury Hospital, Stanmore Hospital)
- Academic Collaborations (Rhodes University, University of Toronto, Max Plank Institute, University of Glasgow, University of Lille, University of Leeds, University of Loughborough, University of Strathclyde, University of Brunel etc... )
- Associate lecturer with the Open University (MSc Mathematics: Fractal Geometry)
William Holderbaum

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+44 (0) 118 378 6086
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Professor in Mathematics and Engineering
- Coordinator of Part II Exams: involves collating exams, put it under the examination form, contacting external reviewers and make the correction, dispatch exams papers to lecturers, gathering all results in electronic format.
- Examining: setting and marking exams tests/or assignments associated with the units taught.
- Supervising final year projects.
- Supervising PhD Students.
- Staff Training and Development: attended workshops; teaching project submitted and pass, Self Development training in Control Theory.
Teaching
Present Modules
- SE1CEM11: Engineering Mathematics and Tutorial.
Autumn, Spring and summer Term; Algebra and Complex number, Differentiation and Integration and tutorials in Algebra, Differentiation, Integration, Complex number, Vectors Algebra, Matrix Algebra, Differential Equation,.
Past Modules
- EE710 (Topics in Engineering): Architecture and Algorithm, Autumn term.
- CY561: Control lab, Spring Term.
- EE0C2 Foundation Year: Electronic, Spring Term.
- Foundation Year: Electronic lab, Autumn and Spring Term.
- CY1A2 Cybernetics and its application, Spring Term.
- EG1C2: Math tutorial, Autumn and Spring Term, Differentiation, Integration, Complex number, Matrix, Numerical Method, Autumn and Spring Term.
- EE2B2 Electromagnetism and its application, Autumn and Spring Term, Vector algebra, vector analysis, Electrostatic fields, Magnetic fields. Magnetic materials and permanent magnets. Faraday's Law, Transmission Lines.
- SE1CB9: Engineering Mathematics, Algebra, Functions, Vectors and Complex number
Research projects
Within the research group Prof Holderbaum's research the theory of control systems and modelling with applications mainly focused on the following topics: Boolean input systems (i.e. power converter), Geometric Control (nonholonomic control systems), Rehabilitation Engineering (Robust Control Design for unsupported Paraplegic Standing), Energy reduction (Smart Grid, Multiple Agent Systems, Fuel Cells, Power Generation and Wireless Power Transfer), Autonomous Vehicle (Motion planning, visualisation control):
- Boolean input systems are sub-class of hybrid systems (Boolean + continuous) of a single model obtain from the Bond Graph modelling technique. I have developed theoretical control laws and studied the Lyapunov stability of systems with application to electrical motors in simulation. I have also extended hybrid control laws using a neural network approach. At the present time I am studying a new approach from the stability point of view.
- The goal of rehabilitation engineering allows people to restore movement with Functional Electrical Simulation. The human body is a complex system that is very difficult to control; I developed new strategies to integrate and/or to take into account those particular complexities. The direction of research involves patients with severe Spinal Cord Injury who have difficulties in transferring between poses (e.g. moving from a bed to a chair), and likewise for carers of patients with Spinal Cord Injuries who must avoid possible back pain due to incorrect lifting. This work investigates the dynamics involved in transferring, along with Functional Electrical Stimulation (FES) methods to activate muscle groups at the appropriate phase of a sit-to-stand transfer. The overall control of the transfer would be shared between the carer and the individual with the Spinal Cord Injury.
- This research involves studying nonholonomic control systems whose configuration space can be described by a matrix Lie group. This framework provides a natural and mathematically rich setting for studying nonholonomic systems. In particular analysis tools from a diverse range of mathematical subjects such as group theory and differential geometry are used extensively. A transformation has been considered in the Hamiltonian setting which is the natural setting for conserved systems (systems with symmetry). The Hamiltonian equations can then be solved explicitly in many cases and as such global solutions of high dimensional systems can be obtained. In addition the research extends much of the current theory to consider non-Euclidean spaces. This current work has been applied in the control of an Autonomous Under-water Vehicle
- Energy minimisation is an important research topics and even more so today in order to reduce the overall CO2 emission. This research uses the mathematical engineering skills in order to minimise the energy consumption in home by adding storage combining with multiple agent systems. Another topic relates to the use of PhotoVoltaic (PV) cells and ThermoElectric (TE) to scavenge energy freely available around us. Control engineering renders this possible by managing the power betweens loads (demand) and generator (PV-TE). Other areas of energy related research are wireless power transfer (which consists of modelling the efficiency of power transfer from Maxwell's Equations) and fuels cells technology (estimation of the magnetic fields from the cells using classification algorithms)
- The research work on Unmanned Air Vehicle(UAV) focuses on the review and comparison of different existing algorithms from the literatures for path planning. To perform such a comparison a benchmark environment is designed associated with performance metrics. Furthermore different control methods are being researched focusing on navigation and guidance using camera and sensors. Lastly an interesting research is emerging of UAV control. Indeed the development of computational methods for the design of optimal low thrust spacecraft trajectories subject to uncertainties (dynamics of the system, lack of accurate knowledge on the terminal constraints associated with a mission). Two alternative approaches based on stochastic sampling are being explored: The first approach will employ the unscented transformation to approximate the distribution of the control and state trajectories. The second approach is a modified particle control approach, whereby the probability distributions of the states and controls are iteratively approximated using sampling.
Websites/blogs
Publications
- Zhou, J. , Freeman, C. , Holderbaum, W. (2023) Multiple model iterative learning control for FES-based stroke rehabilitation. American Control Conference (ACC 2023). 2023 American Control Conference (ACC) pp 0. ISSN: 2378-5861 ISBN: 9798350328066 | doi: https://dx.doi.org/10.23919/acc55779.2023.10155894
- Zhou, J. , Freeman, C. , Holderbaum, W. (2023) Multiple model iterative learning control with application to upper limb stroke rehabilitation. 2023 International Interdisciplinary PhD Workshop (IIPhDW) pp 0. | doi: https://dx.doi.org/10.1109/iiphdw54739.2023.10124411
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Tawalbeh, R.
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Alasali, F.
ORCID: 0000-0002-1413-059X , Ghanem, Z. , Alghazzawi, M. , Abu-Raideh, A. , Holderbaum, W.
ORCID: 0000-0002-1677-9624 (2023) Innovative characterization and comparative analysis of water level sensors for enhanced early detection and warning of floods. Journal of Low Power Electronics and Applications , 13 (2). pp 1. ISSN: 2079-9268 | doi: https://dx.doi.org/10.3390/jlpea13020026
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Tripathy, H.
ORCID: 0000-0003-0129-2642 , Pattanaik, P.
ORCID: 0000-0002-0042-6672 , Mishra, D.
ORCID: 0000-0002-5648-8362 , Holderbaum, W.
ORCID: 0000-0002-1677-9624 (2023) Heat and moisture management for automatic air conditioning of a domestic household using FA-ZnO nanocomposite as smart sensing material. Energies , 16 (6). pp 1. ISSN: 1996-1073 | doi: https://dx.doi.org/10.3390/en16062654
- Haben, S. , Holderbaum, W. , Voss, M. (2023) Load forecasting: core concepts and methods with applications in distribution networks. Springer Nature pp 384. (In Press) ISBN: 9783031278518
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Alasali, F.
ORCID: 0000-0002-1413-059X , Saidi, A.
ORCID: 0000-0003-1725-2418 , El-Naily, N. , Smadi, M.
ORCID: 0000-0002-4313-3589 , Holderbaum, W.
ORCID: 0000-0002-1677-9624 (2023) Hybrid tripping characteristic-based protection coordination scheme for photovoltaic power systems. Sustainability , 15 (2). pp 0. ISSN: 2071-1050 | doi: https://dx.doi.org/10.3390/su15021540
- Tripathy, H. , Pattanaik, P. , Mishra, D. , Kamilla, S. , Holderbaum, W. (2022) Experimental and probabilistic model validation of ultrasonic MEMS transceiver for blood glucose sensing. Scientific Reports , 12 pp 0. ISSN: 2045-2322 | doi: https://dx.doi.org/10.1038/s41598-022-25717-x
- Strong, V. , Holderbaum, W. , Hayashi, Y. (2022) Electroactive polymer gels as probabilistic reservoir automata for computation. iScience , 25 (12). ISSN: 2589-0042 | doi: https://dx.doi.org/10.1016/j.isci.2022.105558
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Armengol, M.
ORCID: 0000-0003-4306-6213 , Zoulias, I. , Gibbons, R. , McCarthy, I. , Andrews, B. , Harwin, W. , Holderbaum, W. (2022) The effect of functional electrical stimulation-assisted posture-shifting in bone mineral density: case series-pilot study. Spinal cord series and cases , 8 (1). pp 1. ISSN: 2058-6124 | doi: https://dx.doi.org/10.1038/s41394-022-00523-9
- Nnaji, A. , Holderbaum, W. , Becerra, V. (2022) A novel friction model for predicting nonlinear friction dynamics. International Journal of Modelling, Identification and Control , 38 (2). pp. 105-120. ISSN: 1746-6180
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Wairagkar, M.
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Villeneuve, E.
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King, R.
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Janko, B.
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Burnett, M.
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Agarwal, V.
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Kunkel, D.
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Ashburn, A.
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Sherratt, R.
ORCID: 0000-0001-7899-4445 , Holderbaum, W. , Harwin, W. (2022) A novel approach for modelling and classifying sit-to-stand kinematics using inertial sensors. PLoS ONE , 17 (10). ISSN: 1932-6203 | doi: https://dx.doi.org/10.1371/journal.pone.0264126
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Panda, S.
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Tripathy, H.
ORCID: 0000-0003-0129-2642 , Pattanaik, P.
ORCID: 0000-0002-0042-6672 , Mishra, D.
ORCID: 0000-0002-5648-8362 , Kamilla, S. , Khandual, A.
ORCID: 0000-0002-9357-9749 , Holderbaum, W.
ORCID: 0000-0002-1677-9624 , Sherwood, R.
ORCID: 0000-0002-8975-5623 , Hawkins, G.
ORCID: 0000-0003-3604-5713 , Masakapalli, S.
ORCID: 0000-0003-1988-5569 (2022) Structural, morphological, optical and electrical characterization of gahnite ferroan nano composite derived from fly ash silica and ZnO Mixture. Materials , 15 (4). pp 0. ISSN: 1996-1944 | doi: https://dx.doi.org/10.3390/ma15041388
- Zaraki, A. , Hayashi, Y. , George, D. , Thorpe, H. , Strong, V. , Larsen, G. , Jackson, B. , Holderbaum, W. (2022) Developing a leader-follower kinematic-based control system for a cable-driven hyper-redundant serial manipulator. pp. 1-12. | doi: https://dx.doi.org/10.1007/978-3-030-91352-6_1 (IMA 2020. Springer Proceedings in Advanced Robotics, vol 21.)
- Strong, V. , Holderbaum, W. , Hayashi, Y. (2022) Active matter as a path planning interpreter. Springer pp. 66-77. | doi: https://dx.doi.org/10.1007/978-3-030-91352-6_7 (IMA 2020. Springer Proceedings in Advanced Robotics, vol 21.)
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Pattanaik, P.
ORCID: 0000-0002-0042-6672 , Holderbaum, W.
ORCID: 0000-0002-1677-9624 , Khandual, A.
ORCID: 0000-0002-9357-9749 , Tripathy, H.
ORCID: 0000-0003-0129-2642 (2021) UVC LED and conducting yarn-based heater for a smart germicidal face mask to protect against airborne viruses. Materials , 14 (22). pp 0. ISSN: 1996-1944 | doi: https://dx.doi.org/10.3390/ma14226999
- PietrosantI, S. , Alasali, F. , Holderbaum, W. (2020) Power management system for RTG crane using fuzzy logic controller. Sustainable Energy Technologies and Assessments , 37 ISSN: 2213-1388 | doi: https://dx.doi.org/10.1016/j.seta.2020.100639
- Zoulias, I. , Armengol, M. , Poulton, A. , Andrews, B. , Gibbons, R. , Harwin, W. , Holderbaum, W. (2019) Novel instrumented frame for standing exercising of users with complete spinal cord injuries. Scientific Reports , 9 (1). ISSN: 2045-2322 | doi: https://dx.doi.org/10.1038/s41598-019-49237-3
- Alasali, F. , Haben, S. , Holderbaum, W. (2019) Energy management systems for a network of electrified cranes with energy storage. International Journal of Electrical Power & Energy Systems , 106 pp. 210-222. ISSN: 1420615 | doi: https://dx.doi.org/10.1016/j.ijepes.2018.10.001
- Alasali, F. , Luque, A. , Mayer, R. , Holderbaum, W. (2019) A comparative study of energy storage systems and active front ends for networks of two electrified RTG cranes. Energies , 12 (9). ISSN: 1996-1073 | doi: https://dx.doi.org/10.3390/en12091771
- Alasali, F. , Haben, S. , Holderbaum, W. (2019) Stochastic optimal energy management system for RTG cranes network using genetic algorithm and ensemble forecasts. Journal of Energy Storage , 24 ISSN: 2352-152X | doi: https://dx.doi.org/10.1016/j.est.2019.100759
- Alasali, F. , Haben, S. , Becerra, V. , Holderbaum, W. (2018) Day-ahead industrial load forecasting for electric RTG cranes. Journal of Modern Power Systems and Clean Energy , 6 (2). pp. 223-234. ISSN: 2196-5625 | doi: https://dx.doi.org/10.1007/s40565-018-0394-4
- Yunusov, T. , Zangs, M. , Holderbaum, W. , eds. (2017) Control of energy storage. Energies , 10. Energies , 10 (7). pp. 1010. ISSN: 1996-1073 | doi: https://dx.doi.org/10.3390/en10071010
- Moorey, C. and Holderbaum, W. (2017) A study on the wireless power transfer efficiency of electrically small, perfectly conducting electric and magnetic dipoles. Progress In Electromagnetics Research C , 77 pp. 111-121. ISSN: 1937-8718 | doi: https://dx.doi.org/10.2528/PIERC17062304
- Alasali, F. , Haben, S. , Becerra, V. , Holderbaum, W. (2017) Optimal energy management and MPC strategies for electrified RTG cranes with energy storage systems. Energies , 10 (10). ISSN: 1996-1073 | doi: https://dx.doi.org/10.3390/en10101598
- Papaioannou, V. , Pietrosanti, S. , Holderbaum, W. , Becerra, V. , Mayer, R. (2017) Analysis of energy usage for RTG cranes. Energy , 125 pp. 337-344. ISSN: 0360-5442 | doi: https://dx.doi.org/10.1016/j.energy.2017.02.122
- Ritzmann, D. , Rens, J. , Wright, P. , Holderbaum, W. , Potter, B. (2017) A novel approach to noninvasive measurement of overhead line impedance parameters. IEEE Transactions on Instrumentation and Measurement , 66 (6). pp. 1155-1163. ISSN: 0018-9456 | doi: https://dx.doi.org/10.1109/TIM.2017.2665958
- King, R. , Villeneuve, E. , White, R. , Sherratt, R. , Holderbaum, W. , Harwin, W. (2017) Application of data fusion techniques and technologies for wearable health monitoring. Medical Engineering & Physics , 42 pp. 1-12. ISSN: 1350-4533 | doi: https://dx.doi.org/10.1016/j.medengphy.2016.12.011
- Villeneuve, E. , Harwin, W. , Holderbaum, W. , Janko, B. , Sherratt, R. (2017) Reconstruction of angular kinematics from wrist-worn inertial sensor data for smart home healthcare. IEEE Access , 5 pp. 2351-2363. ISSN: 2169-3536 | doi: https://dx.doi.org/10.1109/ACCESS.2016.2640559
- Zangs, M. , Yunusov, T. , Holderbaum, W. , Potter, B. (2016) On-line adjustment of battery schedules for supporting LV distribution network operation.
- Pietrosanti, S. , Holderbaum, W. , Becerra, V. (2016) Modeling power flow in a hoist motor of a rubber-tired gantry crane. IEEE Transactions on Industry Applications , 52 (3). pp. 2088-2094. ISSN: 1939-9367 | doi: https://dx.doi.org/10.1109/TIA.2016.2529560
- Ritzmann, D. , Wright, P. , Holderbaum, W. , Potter, B. (2016) A method for accurate transmission line impedance parameter estimation. IEEE Transactions on Instrumentation and Measurement , 65 (10). pp. 2204-2213. ISSN: 0018-9456 | doi: https://dx.doi.org/10.1109/TIM.2016.2556920
- Zangs, M. , Adams, P. , Yunusov, T. , Holderbaum, W. , Potter, B. (2016) Distributed energy storage control for dynamic load impact mitigation. Energies , 9 (8). ISSN: 1996-1073 | doi: https://dx.doi.org/10.3390/en9080647
- Villeneuve, E. , Harwin, W. , Holderbaum, W. , Sherratt, R. , White, R. (2016) Signal quality and compactness of a dual-accelerometer system for gyro-free human motion analysis. IEEE Sensors Journal , 16 (16). pp. 6261-6269. ISSN: 1530-437X | doi: https://dx.doi.org/10.1109/JSEN.2016.2582262
- Pietrosanti, S. , Holderbaum, W. , Becerra, V. (2016) Optimal power management strategy for energy storage with stochastic loads. Energies , 9 (3). ISSN: 1996-1073 | doi: https://dx.doi.org/10.3390/en9030175
- Yunusov, T. , Frame, D. , Holderbaum, W. , Potter, B. (2016) The impact of location and type on the performance of Low-Voltage network connected Battery Energy Storage Systems. Applied Energy , 165 pp. 202-213. ISSN: 3062619 | doi: https://dx.doi.org/10.1016/j.apenergy.2015.12.045
- Moorey, C. , Holderbaum, W. , Potter, B. (2015) Investigation of high-efficiency Wireless Power Transfer criteria of resonantly-coupled loops and dipoles through analysis of the figure of merit. Energies , 8 (10). pp. 11342-11362. ISSN: 1996-1073 | doi: https://dx.doi.org/10.3390/en81011342
- Alkowatly, M. , Becerra, V. , Holderbaum, W. (2015) Body-centric modelling, identification, and acceleration tracking control of a quadrotor UAV. International Journal of Modelling, Identification and Control , 24 (1). pp. 29-41. ISSN: 1746-6172 | doi: https://dx.doi.org/10.1504/IJMIC.2015.071697
- Alkowatly, M. , Becerra, V. , Holderbaum, W. (2015) Bioinspired autonomous visual vertical control of a quadrotor unmanned aerial vehicle. Journal of Guidance, Control and Dynamics , 38 (2). pp. 249-262. ISSN: 1533-3884 | doi: https://dx.doi.org/10.2514/1.G000634
- Alkowatly, M. , Becerra, V. , Holderbaum, W. (2015) Bio-inspired autonomous visual vertical control of a quadrotor UAV. Journal of Guidance, Control, and Dynamics , 38 (2). pp. 249-262. ISSN: 0731-5090 | doi: https://dx.doi.org/10.2514/1.G000634
- Markakis, A. , Holderbaum, W. , Potter, B. (2014) Bond graph models of DC-DC converters operating in both CCM and DCM. International Journal of Power Electronics , 6 (1). pp. 18-41. ISSN: 1756-6398 | doi: https://dx.doi.org/10.1504/IJPELEC.2014.060706
- Rowe, M. , Yunusov, T. , Haben, S. , Singleton, C. , Holderbaum, W. , Potter, B. (2014) A peak reduction scheduling algorithm for storage devices on the low voltage network. IEEE Transactions on Smart Grid , 5 (4). pp. 2115-2124. ISSN: 1949-3053 | doi: https://dx.doi.org/10.1109/TSG.2014.2323115
- Ausoni, J. , Mitchell, R. , Holderbaum, W. (2014) Towards optimizing the selection of neurons in affordable neural networks.
- Rowe, M. , Yunusov, T. , Haben, S. , Holderbaum, W. , Potter, B. (2014) The real-time optimisation of DNO owned storage devices on the LV network for peak reduction. Energies , 7 (6). pp. 3537-3560. ISSN: 1996-1073 | doi: https://dx.doi.org/10.3390/en7063537
- Haben, S. , Rowe, M. , Vukadinovic Greetham, D. , Grindrod, P. , Holderbaum, W. , Potter, B. , Singleton, C. (2013) Mathematical solutions for electricity networks in a low carbon future. pp. 0857-0857. | doi: https://dx.doi.org/10.1049/cp.2013.0972
- Rowe, M. , Holderbaum, W. , Potter, B. (2013) Control methodologies: Peak reduction algorithms for DNO owned storage devices on the Low Voltage network. pp. 1-5. | doi: https://dx.doi.org/10.1109/ISGTEurope.2013.6695291
- Holderbaum, W. and Biggs, J. (2013) Optimal steady motions for oriented vehicles. Theoretical Mathematics & Applications , 3 (1). pp. 85-110. ISSN: 1792-9709
- Alkowatly, M. , Becerra, V. , Holderbaum, W. (2013) Estimation of visual motion parameters used for bio-inspired navigation. Journal of Image and Graphics , 1 (3). pp. 120-124. ISSN: 2301-3699 | doi: https://dx.doi.org/10.12720/joig.1.3.120-124
- Lowery, N. , Vahdati, M. , Potthast, R. , Holderbaum, W. (2013) Classification and fault detection methods for fuel cell monitoring and quality control. Journal of Fuel Cell Science and Technology , 10 (2). ISSN: 1550-624X | doi: https://dx.doi.org/10.1115/1.4023565
- Tucker, C. , Warwick, K. , Holderbaum, W. (2013) A contribution to the wireless transmission of power. International Journal of Electrical Power and Energy Systems , 47 (5). pp. 235-242. ISSN: 0142-0615 | doi: https://dx.doi.org/10.1016/j.ijepes.2012.10.066
- Tucker, C. , Warwick, K. , Holderbaum, W. (2012) Efficient wireless power delivery for biomedical implants. IET Wireless Sensor Systems , 2 (3). pp. 176. ISSN: 2043-6386 | doi: https://dx.doi.org/10.1049/iet-wss.2011.0168
- Linton, C. , Holderbaum, W. , Biggs, J. (2012) Rigid body trajectories in different 6D spaces. ISRN Mathematical Physics , 2012 ISSN: 2090-4681 | doi: https://dx.doi.org/10.5402/2012/467520
- Linton, C. , Holderbaum, W. , Biggs, J. (2012) Casimirs and Lax operators from the structure of Lie algebras. European Journal of Pure and Applied Mathematics , 5 (4). pp. 567-583. ISSN: 1307-5543
- Tucker, C. , Warwick, K. , Holderbaum, W. (2012) Efficient wireless power delivery for biomedical implants. IET Wireless Sensor Systems , 2 (3). pp. 176-182. ISSN: 2043-6386 | doi: https://dx.doi.org/10.1049/iet-wss.2011.0168
- Vanoncini, M. , Holderbaum, W. , Andrews, B. (2012) Electrical stimulation for trunk control in paraplegia:A feasibility study. Control Engineering Practice , 20 (12). pp. 1247-1258. ISSN: 0967-0661 | doi: https://dx.doi.org/10.1016/j.conengprac.2012.06.007
- Bowden , C. , Holderbaum, W. , Becerra, V. (2012) Strong structural controllability and the multilink inverted pendulum. IEEE transactions on automatic control , 57 (11). pp. 2891-2896. ISSN: 0018-9286 | doi: https://dx.doi.org/10.1109/TAC.2012.2191180
- Lowery, N. , Potthast, R. , Vahdati, M. , Holderbaum, W. (2012) On discrimination algorithms for ill-posed problems with an application to magnetic tomography . Inverse Problems , 28 (6). ISSN: 1361-6420 | doi: https://dx.doi.org/10.1088/0266-5611/28/6/065010
- Bowden, C. , Holderbaum, W. , Becerra, V. (2012) Strong structural controllability and the multi-link inverted pendulum. IEEE Transactions on Automatic Control , 57 (11). pp. 2891-2896. ISSN: 0018-9286 | doi: https://dx.doi.org/10.1109/TAC.2012.2191180
- Yunusov, T. , Holderbaum, W. , Potter, B. (2011) Cost function for sub-agent elements in multi-agent energy management system. pp. 1-8. | doi: https://dx.doi.org/10.1109/ISGTEurope.2011.6162783
- Milthorp, T. , Becerra, V. , Holderbaum, W. , Hutt, B. (2011) Adaptive recursive control of a soil testing load frame. IEEE pp. 102-107. | doi: https://dx.doi.org/10.1109/RAMECH.2011.6070464
- Yunusov, T. , Holderbaum, W. , Potter, B. (2011) Sub-agent elements for control methods in multi-agent energy management system. IEEE pp. 1-7.
- Markakis, A. , Holderbaum, W. , Potter, B. (2011) A comparison between bond graphs switching modelling techniques implemented on a boost dc-dc converter. IEEE pp. 1-7.
- Vanoncini, M. , Holderbaum, W. , Andrews, B. (2010) Activation of lower back muscles via FES for pressure sores prevention in paraplegia: a case study. Journal of Medical Engineering & Technology , 34 (3). pp. 224-231. ISSN: 1464-522X | doi: https://dx.doi.org/10.3109/03091900903580504
- Biggs, J. and Holderbaum, W. (2010) Integrable quadratic Hamiltonians on the Euclidean group of motions. Journal of Dynamical and Control Systems , 16 (3). pp. 301-317. ISSN: 1573-8698 | doi: https://dx.doi.org/10.1007/s10883-010-9094-8
- Biggs, . and Holderbaum, . (2009) Optimal kinematic control of an autonomous underwater vehicle. IEEE Transactions on Automatic Control , 54 (7). pp. 1623-1626. ISSN: 0018-9286 | doi: https://dx.doi.org/10.1109/tac.2009.2017966
- Holderbaum, . and Biggs, . (2009) Oriented vehicles travelling in spherical space. ACTA press
- Vanoncini, . , Holderbaum, . , Andrews, . (2008) Development and experimental identification of a biomechanical model of the trunk for functional electrical stimulation control in paraplegia. Neuromodulation , 11 (4). pp. 315-324. ISSN: 1094-7159
- Biggs, . and Holderbaum, . (2008) Planning rigid body motions using elastic curves. Mathematics of Control Signals and Systems , 20 (4). pp. 351-367. ISSN: 0932-4194 | doi: https://dx.doi.org/10.1007/s00498-008-0033-0
- Vanoncini, . , Holderbaum, . , Andrews, . (2008) Development of closed loop FES controllers for trunk stabilization in paraplegia.
- Vanoncini, . , Holderbaum, . , Andrews, . (2008) A simple biomechanical model of the trunk for FES assisted balance control in paraplegia.
- Vanoncini, . , Holderbaum, . , Andrews, . (2008) Model based development of a FES controller for trunk stabilization in paraplegia.
- Holderbaum, . and Biggs, . (2008) Integrable Hamiltonian systems defined on the Lie groups SO(3) and SU(2): an application to the attitude control of a spacecraft.
- Holderbaum, . (2007) Application of neural network to hybrid systems with binary inputs. IEEE Transactions on Neural Networks , 18 (4). pp. 1254-1261. ISSN: 1045-9227 | doi: https://dx.doi.org/10.1109/tnn.2007.899181
- Biggs, . , Holderbaum, . , Jurdjevic, . (2007) Singularities of optimal control problems on some 6-D lie groups. IEEE Transactions on Automatic Control , 52 (6). pp. 1027-1038. ISSN: 0018-9286 | doi: https://dx.doi.org/10.1109/tac.2007.899010
- Biggs, . and Holderbaum, . (2007) Integrating Hamiltonian systems defined on the Lie groups SO(4) and SO(1,3) .
- Knight, . , Shirsavar, . , Holderbaum, . (2006) An improved reliability Cuk based solar inverter with sliding mode control. IEEE Transactions on Power Electronics , 21 (4). pp. 1107 - 1115 . | doi: https://dx.doi.org/10.1109/TPEL.2006.876786
- Becerra, . , Biggs, . , Nasuto, . , Ruiz, . , Holderbaum, . , Izzo, . (2006) Using Newton's method to search for quasi-periodic relative satellite motion based on nonlinear Hamilton models. pp. 193 - 202.
- Biggs, . and Holderbaum, . (2006) Integrating control systems defined on the frame bundles of the space forms. Proceedings of the 45th IEEE Conference on Decision and Control, Vols 1-14. IEEE Conference on Decision and Control IEEE , New York. pp. 3849-3854. ISBN: 0191-2216 9781424401703
- Biggs, J. , Becerra, V. , Nasuto, S. , Ruiz, V. , Holderbaum, W. (2005) A search for invariant relative satellite motion. ESA/ESTEC (04/4104).
- Becerra, . , Garces, . , Nasuto, . , Holderbaum, . (2005) An Efficient Parameterization of Dynamic Neural Networks for Nonlinear System Identification. IEEE Transactions on Neural Networks , 16 (4). pp. 983 - 988. | doi: https://dx.doi.org/10.1109/TNN.2005.849844
- Holderbaum, . and Schinkel, . (2005) Optimal Control of Hybrid Systems.
- Biggs, . and Holderbaum, . (2005) The geometry of optimal control solutions on some six dimensional lie groups. 2005 44th IEEE Conference on Decision and Control & European Control Conference, Vols 1-8. IEEE Conference on Decision and Control - Proceedings Ieee , New York. pp. 1427-1432. ISBN: 0191-2216 0780395670
- Holderbaum, . , Hunt, . , Gollee, . (2004) Robust Discrete Control for Paraplegic Standing: Experimental Results. European Journal of Control , 10 (3). pp. 277-286.
- Vanoncini, . , Thrasher, . , Andrews, . , Holderbaum, . (2004) Increasing trunk stiffness via FES in paraplegic subjects.
- Knight, . , Shirsavar, . , Holderbaum, . (2004) Capacitive idling techniques improve inverter performance. pp. 638-643.
- Schauer, T. , Holderbaum, W. , Hunt, K. (2003) Sliding-mode control of knee-joint angle: experimental results. pp. 316-318.
- Holderbaum, . and Schauer, . (2003) Application of Sliding-Mode Control to Knee-Joint Angle: Analysis, Computational Engineering in System Application.
- Holderbaum, . (2003) Neural Network Application to Linear Systems with Binary Inputs.
- Holderbaum, W. (2002) Control strategy for Boolean input systems. pp. 1260-1265.
- Holderbaum, W. , Hunt, K. , Gollee, H. (2002) H∞ robust control design for unsupported paraplegic standing: experimental evaluation. Control Engineering Practice , 10 (11). pp. 1211-1222. ISSN: 0967-0661 | doi: https://dx.doi.org/10.1016/S0967-0661(02)00082-5
- Holderbaum, W. and Hunt, K. (2001) Application of H-infinity robust control to paraplegic standing. pp. 292-298.