pdf files of the selected papers shown below are available upon request.

Please send e-mail to khalil@msu.edu

High-gain Observers (basic theory)

• F. Esfandiari and H.K. Khalil. Output feedback stabilization of fully linearizable systems. Int. J. Control, vol. 56, 1007-1037, 1992.
• H.K. Khalil and F. Esfandiari. Semiglobal stabilization of a class of nonlinear systems using output feedback. IEEE Trans. Automat. Contr., vol. 38, 1412-1415, 1993.
• S. Oh and H.K. Khalil. Output feedback stabilization using variable structure control. Int. J. Control, vol. 62, 831-848, 1995.
• S. Oh and H.K. Khalil. Nonlinear output feedback tracking using high-gain observer and variable structure control. Automatica, vol. 33, 1845-1856, 1997.
• A.N. Atassi and H.K. Khalil. A separation principle for the stabilization of a class of nonlinear systems. IEEE Trans. Automat. Contr., vol. 44, 1672-1687, 1999.
• A.N. Atassi and H.K. Khalil. Separation results for the stabilization of nonlinear systems using different high-gain observer designs. Systems & Control Letters, vol. 39, 183-191, 2000.
• A.N. Atassi and H.K. Khalil. A separation principle for the control of a class of nonlinear systems. IEEE Trans. Automat. Contr., vol. 46, 742-746, 2001.

High-gain Observers (discrete-time implementation)

• A. Dabroom and H.K. Khalil. Discrete-time implementation of high-gain observers for numerical differentiation. Int. J. Control, vol. 72, 1523-1537, 1999.
• A.M. Dabroom and H.K. Khalil. Output feedback sampled-data control of nonlinear systems using high-gain observers, IEEE Trans. Automat. Contr., vol. 46, 1712-1725, 2001.

High-gain Observers (unmodeled dynamics)

• R.W. Aldhaheri and H.K. Khalil. Effect of unmodeled dynamics on output feedback stabilization of nonlinear systems. Automatica, vol. 32, 1323-1327, 1996.
• M.S. Mahmoud and H.K. Khalil. Robustness of high-gain observer-based nonlinear controllers to unmodeled actuators and sensors. Automatica, vol. 38, 361-369, 2002.

Adaptive Control of Nonlinear Systems

• H.K. Khalil. Adaptive output feedback control of nonlinear systems represented by input-output models, IEEE Trans. Automat. Contr., vol. 41, 177-188, 1996.
• K.W. Lee and H.K. Khalil. Adaptive output feedback control of robot manipulators using high-gain observers. Int. J. Control, vol. 67, 869-886, 1997.
• B. Aloliwi and H.K. Khalil. Adaptive output feedback regulation of a class of nonlinear systems: convergence and robustness. IEEE Trans. Automat. Contr., vol. 42, 1714-1716, 1997.
• B. Aloliwi and H.K. Khalil. Robust adaptive output feedback control of nonlinear systems without persistence of excitation. Automatica, vol. 33, 2025-2032, 1997.

Adaptive Control Using Neural Networks

• F.-C. Chen and H.K. Khalil. Adaptive control of nonlinear systems using neural networks. Int. J. Control, vol. 55, 1299-1317, 1992.
• F.-C. Chen and H.K. Khalil. Adaptive control of a class of nonlinear discrete-time systems using neural networks. IEEE Trans. Automat. Contr., vol. 40, 791-801, 1995.
• S. Seshagiri and H.K. Khalil. Output feedback control of nonlinear systems using RBF neural networks. IEEE Trans. on Neural Networks, vol. 11, 69-79, 2000.

Logic-based Switching

• L.B. Freidovich and H.K. Khalil. Logic-based witching for robust control of minimum phase nonlinear systems. Systems & Control Letters, vol. 54, 713-727, 2005.

• L.B. Freidovich and H.K. Khalil. Lyapunov-based switching control of nonlinear systems using high-gain observers. Automatica, vol. 43, 150-157, 2007.

Nonlinear Sampled-data Control

• H.K. Khalil. Performance recovery under output feedback sampled-data stabilization of a class of nonlinear systems. IEEE Trans. Automat. Contr., vol. 49, 2173-2184, 2004.
• J.H. Ahrens and X. Tan and H.K. Khalil. Multirate Sampled-Data Output Feedback Control with Application to Smart Material Actuated Systems. IEEE Trans. Automat. Contr., vol. 54, 2009.

Extended Kalman Filter

• J. Ahrens and H.K. Khalil. Closed-loop behavior of a class of nonlinear systems under EKF-based control. IEEE Trans. Automat. Contr., vol. 52, 536-540, 2007

Nonlinear Integral Control

• N. Mahmoud and H.K. Khalil. Asymptotic regulation of minimum phase nonlinear systems using output feedback. IEEE Trans. Automat. Contr., vol. 41, 1402-1412, 1996.
• H.K. Khalil. Universal integral controllers for minimum phase nonlinear systems. IEEE Trans. Automat. Contr., vol. 45, 490-494, 2000.
• H.S. Kay and H.K. Khalil. Universal integral controllers with non-linear integral gains. Int. J. Control, vol. 17, 1521-1531, 2004.
• S. Seshagiri and H.K. Khalil. Robust output feedback regulation of minimum-phase nonlinear systems using conditional integrators. Automatica, vol. 41, 43-54, 2005.
• A. Singh and H.K. Khalil. Regulation of nonlinear systems using conditional integrators. Int. J. Robust and Nonlinear Control, vol. 15, 339-362, 2005.

Nonlinear Servomechanisms

• H.K. Khalil. Robust servomechanism output feedback controllers for feedback linearizable systems. Automatica, vol. 30, 1587-1599, 1994.
• N. Mahmoud and H.K. Khalil. Robust control for a nonlinear servomechanism problem. Int. J. Control, vol. 66, 779-802, 1997.
• H.K. Khalil. On the design of robust servomechanisms for minimum phase nonlinear systems. Int. J. Robust and Nonlinear Control, vol. 10, 339-361, 2000.
• S. Seshagiri and H.K. Khalil. Robust output regulation of minimum phase nonlinear systems using conditional servocompensators. Int. J. Robust and Nonlinear Control, vol. 15, 83-102, 2005.

Control of Induction Motors

• H.K. Khalil and E.G. Strangas. Robust speed control of induction motors using position and current measurements. IEEE Trans. Automat. Contr., vol. 41, 1216-1220, 1996.
• E.G. Strangas, H.K. Khalil, B. Aloliwi, L. Laubinger, and J. Miller. Robust tracking controllers for induction motors without rotor position sensor: analysis and experimental results. IEEE Trans. on Energy Conversion, vol. 14, 1448-1458, 1999.
• B. Aloliwi, H.K. Khalil, and E.G. Strangas. Robust speed control of induction motors: application to a benchmark example. Int. J. Adaptive Control and Signal Processing, vol. 14, 157-170, 2000.
• H.K. Khalil and E.G. Strangas and S. Jurkovic. Speed observer and reduced nonlinear model for sensorless control of induction motors. IEEE Trans. Contr. Sys.Tech., vol. 17, 327--339, 2009.

Feedback Control of Singularly Perturbed Systems

• H.K. Khalil. Output feedback control of linear two-time-scale systems. IEEE Trans. Automat. Contr., AC-32, 784-792, 1987.
• H.K. Khalil and F.-C. Chen. H-infinity control of two-time-scale systems, Systems & Control Letters, vol. 19, 35-42, 1992.
• M. Djemai, J.P. Barbot, and H.K. Khalil. Digital multi-rate control for a class of nonlinear singularly perturbed systems. Int. J. Control, vol. 72, 851-865, 1999.
• S.-L.Chen, S.W. Shaw, H.K. Khalil, and A.W. Troesch. Robust stabilization of large amplitude ship rolling in beam seas. J. of Dyn. Sys., Meas., and Contr., 122, 108-113, 2000.

Effect of Measurement Noise on High-Gain Observers

• L.K. Vasiljevic and H.K. Khalil. Error bounds in differentiation of noisy signals by high-gain observers. Systems \& Control Letters, vol. 57, 856--862, 2008.
• J. Ahrens and H.K. Khalil. High-gain observers in the presence of measurement noise: {A} switched-gain approach. Automatica, vol. 45, 2009.
• H.K. Khalil. Analysis of Sampled-Data High-Gain Observers in the Presence of Measurement Noise. European Journal Of Control, 2009.

Extended High-Gain Observers

• L.B. Freidovich and H.K. Khalil. Performance recovery of feedback-linearization-based designs. IEEE Trans. Automat. Contr.,

vol. 53, 2324--2334, 2008.