Stefano Di Cairano

Stefano Di Cairano
  • Phone: 617-621-7553
  • Email: dicairano[at]merl[dot]com
  • Biography

    Stefano's interests are model predictive control, constrained control, networked control systems, optimization algorithms, stochastic systems, and their applications to automotive, aerospace, logistics, and factory automation. Stefano is a member of the IEEE CSS Conference Editorial Board, and the Chair of the IEEE CSS Technical Committee on Automotive Controls.

  • News & Events


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  • Internships with Stefano

    • ME1049: Model predictive control theory algorithms applications

      MERL is looking for highly motivated individuals to work on model predictive control theory, algorithms, and applications. Successful candidates will collaborate with MERL researchers to derive and implement new control designs and optimization algorithms, and to analyze and prove their properties. The ideal candidate is a senior Ph.D. student with experience in at least some of the following areas: predictive control, optimization algorithms, modular control design, integration of identification and control, invariance and Lyapunov methods. Publication of relevant results in conference proceedings and journals is expected. Capability of implementing the designs and algorithms in Matlab is expected; capability of coding parts of the algorithms in C is a plus. The duration of the internship is 3-6 months. Start date is flexible, between February and July 2017.

    See All Internships at MERL
  • MERL Publications

    See All Publications for Stefano
  • Other Publications

    •  Di Cairano, S.; Tseng, H. E.; Bernardini, D.; Bemporad, A., "Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain", IEEE Trans. Control Systems Technology, Vol. 21, No. 4, pp. 1236-1248, 2013.
      BibTeX
      • @Article{DiCairano2013,
      • author = {Di Cairano, S. and Tseng, H. E. and Bernardini, D. and Bemporad, A.},
      • title = {Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain},
      • journal = {IEEE Trans. Control Systems Technology},
      • year = 2013,
      • volume = 21,
      • number = 4,
      • pages = {1236--1248}
      • }
    •  Di Cairano, S.; Liang, W.; Kolmanovsky, I.V.; Kuang, M.L.; Phillips, A.M., "Power Smoothing Energy Management and Its Application to a Series Hybrid Powertrain", IEEE Trans. Control Systems Technology, Vol. 21, No. 6, pp. 2091-2103, 2013.
      BibTeX
      • @Article{DiCairano2013a,
      • author = {Di Cairano, S. and Liang, W. and Kolmanovsky, I.V. and Kuang, M.L. and Phillips, A.M.},
      • title = {Power Smoothing Energy Management and Its Application to a Series Hybrid Powertrain},
      • journal = {IEEE Trans. Control Systems Technology},
      • year = 2013,
      • volume = 21,
      • number = 6,
      • pages = {2091--2103}
      • }
    •  Di Cairano, S.; Bernardini, D.; Bemporad, A.; Kolmanovsky, I.V., "Stochastic MPC With Learning for Driver-Predictive Vehicle Control and its Application to HEV Energy Management", IEEE Trans. Control Systems Technology, 2013.
      BibTeX
      • @Article{di13stochastic,
      • author = {Di Cairano, S. and Bernardini, D. and Bemporad, A. and Kolmanovsky, I.V.},
      • title = {Stochastic MPC With Learning for Driver-Predictive Vehicle Control and its Application to HEV Energy Management},
      • journal = {IEEE Trans. Control Systems Technology},
      • year = 2013,
      • note = {in press, preprints available at ieeexplore.ieee.org}
      • }
    •  Zafeiropoulos, S.; Di Cairano, S., "Vehicle Yaw Dynamics Control by Torque-based Assist Systems Enforcing Driver's Steering Feel Constraints", Proc. American Control Conf., 2013, pp. 6761-6766.
      BibTeX
      • @Inproceedings{di2012vehicle,
      • author = {Zafeiropoulos, S. and Di Cairano, S.},
      • title = {Vehicle Yaw Dynamics Control by Torque-based Assist Systems Enforcing Driver's Steering Feel Constraints},
      • booktitle = {Proc. American Control Conf.},
      • year = 2013,
      • pages = {6761--6766}
      • }
    •  Di Cairano, S.; Heemels, Maurice; Lazar, Mircea; Bemporad, Alberto, "Hybrid control lyapunov functions for the stabilization of hybridsystems", Proc. of Hybrid Systems: Computation and Control, 2013, pp. 73-82.
      BibTeX
      • @Inproceedings{di2013hybrid,
      • author = {Di Cairano, S. and Heemels, Maurice and Lazar, Mircea and Bemporad, Alberto},
      • title = {Hybrid control lyapunov functions for the stabilization of hybridsystems},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2013,
      • pages = {73--82}
      • }
    •  Di Cairano, S.; Brand, M.; Bortoff, S.A., "Projection-free parallel quadratic programming for linear model predictive control", Int. J. Control, 2013.
      BibTeX
      • @Article{di2013parallel,
      • author = {Di Cairano, S. and Brand, M. and Bortoff, S.A.},
      • title = {Projection-free parallel quadratic programming for linear model predictive control},
      • journal = {Int. J. Control},
      • year = 2013,
      • note = {in press, preprints available at www.tandfonline.com}
      • }
    •  Hermans, Ralph M; Lazar, Mircea; Kolmanovsky, Ilya V; Di Cairano, S., "Horizon-1 Predictive Control of Automotive Electromagnetic Actuators", IEEE Trans. Control Systems Technology, Vol. 21, No. 5, pp. 1652-1665, 2013.
      BibTeX
      • @Article{hermanshorizon,
      • author = {Hermans, Ralph M and Lazar, Mircea and Kolmanovsky, Ilya V and {Di Cairano}, S.},
      • title = {Horizon-1 Predictive Control of Automotive Electromagnetic Actuators},
      • journal = {IEEE Trans. Control Systems Technology},
      • year = 2013,
      • volume = 21,
      • number = 5,
      • pages = {1652--1665}
      • }
    •  Julvez, J; Di Cairano, S; Bemporad, A; Mahulea, C, "Event-driven model predictive control of timed hybrid Petri nets", Int. J. Robust Nonlinear Control, 2013.
      BibTeX
      • @Article{julvez2013event,
      • author = {Julvez, J and Di Cairano, S and Bemporad, A and Mahulea, C},
      • title = {Event-driven model predictive control of timed hybrid Petri nets},
      • journal = {Int. J. Robust Nonlinear Control},
      • year = 2013,
      • note = {in press, preprints available at onlinelibrary.wiley.com}
      • }
    •  Borhan, Hoseinali; Vahidi, Ardalan; Phillips, Anthony M; Kuang, Ming L; Kolmanovsky, Ilya V; Di Cairano, S., "MPC-based energy management of a power-split hybrid electric vehicle", IEEE Trans. Control Systems Technology, Vol. 20, No. 3, pp. 593-603, 2012.
      BibTeX
      • @Article{borhan2012mpc,
      • author = {Borhan, Hoseinali and Vahidi, Ardalan and Phillips, Anthony M and Kuang, Ming L and Kolmanovsky, Ilya V and Di Cairano, S.},
      • title = {MPC-based energy management of a power-split hybrid electric vehicle},
      • journal = {IEEE Trans. Control Systems Technology},
      • year = 2012,
      • volume = 20,
      • number = 3,
      • pages = {593--603}
      • }
    •  Caruntu, Constantin F; Lazar, Mircea; Gielen, Rob H; van den Bosch, PPJ; Di Cairano, S., "Lyapunov based predictive control of vehicle drivetrains over CAN", IFAC Control Eng. Practice, 2012.
      BibTeX
      • @Article{caruntu2012lyapunov,
      • author = {Caruntu, Constantin F and Lazar, Mircea and Gielen, Rob H and van den Bosch, PPJ and Di Cairano, S.},
      • title = {Lyapunov based predictive control of vehicle drivetrains over CAN},
      • journal = {IFAC Control Eng. Practice},
      • year = 2012,
      • note = {in press, preprints available at www.sciencedirect.com}
      • }
    •  Di Cairano, S.; Kolmanovsky, Ilya V, "Further developments and applications of network reference governor for constrained systems", Proc. American Control Conf., 2012, pp. 3907-3912.
      BibTeX
      • @Inproceedings{di2012further,
      • author = {Di Cairano, S. and Kolmanovsky, Ilya V},
      • title = {Further developments and applications of network reference governor for constrained systems},
      • booktitle = {Proc. American Control Conf.},
      • year = 2012,
      • pages = {3907--3912}
      • }
    •  Di Cairano, S., "An Industry Perspective on MPC in Large Volumes Applications: Potential Benefits and Open Challenges", IFAC Symp. Nonlinear Model Predictive Control, 2012, pp. 52-59.
      BibTeX
      • @Inproceedings{di2012industry,
      • author = {Di Cairano, S.},
      • title = {An Industry Perspective on MPC in Large Volumes Applications: Potential Benefits and Open Challenges},
      • booktitle = {IFAC Symp. Nonlinear Model Predictive Control},
      • year = 2012,
      • pages = {52--59}
      • }
    •  Di Cairano, S.; Yanakiev, Diana; Bemporad, Alberto; Kolmanovsky, Ilya V; Hrovat, Davor, "Model predictive idle speed control: Design, analysis, and experimental evaluation", IEEE Trans. Control Systems Technology, Vol. 20, No. 1, pp. 84-97, 2012.
      BibTeX
      • @Article{di2012model,
      • author = {Di Cairano, S. and Yanakiev, Diana and Bemporad, Alberto and Kolmanovsky, Ilya V and Hrovat, Davor},
      • title = {Model predictive idle speed control: Design, analysis, and experimental evaluation},
      • journal = {IEEE Trans. Control Systems Technology},
      • year = 2012,
      • volume = 20,
      • number = 1,
      • pages = {84--97}
      • }
    •  Di Cairano, S.; Park, H; Kolmanovsky, I, "Model Predictive Control approach for guidance of spacecraft rendezvous and proximity maneuvering", Int. J. Robust Nonlinear Control, Vol. 22, No. 12, pp. 1398-1427, 2012.
      BibTeX
      • @Article{di2012modelp,
      • author = {Di Cairano, S. and Park, H and Kolmanovsky, I},
      • title = {Model Predictive Control approach for guidance of spacecraft rendezvous and proximity maneuvering},
      • journal = {Int. J. Robust Nonlinear Control},
      • year = 2012,
      • volume = 22,
      • number = 12,
      • pages = {1398--1427}
      • }
    •  Di Cairano, S.; Doering, J; Kolmanovsky, I V; Hrovat, D, "MPC-based control of engine deceleration with open torque converter", Proc. 51st IEEE Conf. Decision and Control, 2012, pp. 3753-3758.
      BibTeX
      • @Inproceedings{di2012mpc,
      • author = {Di Cairano, S. and Doering, J and Kolmanovsky, I V and Hrovat, D},
      • title = {MPC-based control of engine deceleration with open torque converter},
      • booktitle = {Proc. 51st IEEE Conf. Decision and Control},
      • year = 2012,
      • pages = {3753--3758}
      • }
    •  Di Cairano, S.; Pascucci, Carlo A; Bemporad, Alberto, "The rendezvous dynamics under linear quadratic optimal control", Proc. 51st IEEE Conf. Decision and Control, 2012, pp. 6554-6559.
      BibTeX
      • @Inproceedings{di2012rendezvous,
      • author = {Di Cairano, S. and Pascucci, Carlo A and Bemporad, Alberto},
      • title = {The rendezvous dynamics under linear quadratic optimal control},
      • booktitle = {Proc. 51st IEEE Conf. Decision and Control},
      • year = 2012,
      • pages = {6554--6559}
      • }
    •  Feru, Emanuel; Lazar, Mircea; Gielen, Rob H; Kolmanovsky, Ilya V; Di Cairano, S., "Lyapunov-based constrained engine torque control using electronic throttle and variable cam timing", Proc. American Control Conf., 2012, pp. 2866-2871.
      BibTeX
      • @Inproceedings{feru2012lyapunov,
      • author = {Feru, Emanuel and Lazar, Mircea and Gielen, Rob H and Kolmanovsky, Ilya V and Di Cairano, S.},
      • title = {Lyapunov-based constrained engine torque control using electronic throttle and variable cam timing},
      • booktitle = {Proc. American Control Conf.},
      • year = 2012,
      • pages = {2866--2871}
      • }
    •  Hrovat, D; Di Cairano, S.; Tseng, H E; Kolmanovsky, I V, "The development of Model Predictive Control in Automotive industry: A survey", Proc. IEEE Conf. Control Applications, 2012, pp. 295-302.
      BibTeX
      • @Inproceedings{hrovat2012development,
      • author = {Hrovat, D and Di Cairano, S. and Tseng, H E and Kolmanovsky, I V},
      • title = {The development of Model Predictive Control in Automotive industry: A survey},
      • booktitle = {Proc. IEEE Conf. Control Applications},
      • year = 2012,
      • pages = {295--302},
      • organization = {IEEE}
      • }
    •  Milic, Vladimir; Di Cairano, S.; Kasac, Josip; Bemporad, Alberto; Situm, Zeljko, "A numerical algorithm for nonlinear L2-gain optimal control with application to vehicle yaw stability control", Proc. 51st IEEE Conf. Decision and Control, 2012, pp. 5040-5045.
      BibTeX
      • @Inproceedings{milic2012numerical,
      • author = {Milic, Vladimir and Di Cairano, S. and Kasac, Josip and Bemporad, Alberto and Situm, Zeljko},
      • title = {A numerical algorithm for nonlinear L2-gain optimal control with application to vehicle yaw stability control},
      • booktitle = {Proc. 51st IEEE Conf. Decision and Control},
      • year = 2012,
      • pages = {5040--5045}
      • }
    •  Trimboli, Sergio; Di Cairano, S.; Bemporad, Alberto; Kolmanovsky, Ilya V, "Model predictive control with delay compensation for air-to-fuel ratio control" in Time Delay Systems: Methods, Applications and New Trends, Lect. Notes Control and Inf. Science, pp. 319-330, Springer, 2012.
      BibTeX
      • @Incollection{trimboli2012model,
      • author = {Trimboli, Sergio and Di Cairano, S. and Bemporad, Alberto and Kolmanovsky, Ilya V},
      • title = {Model predictive control with delay compensation for air-to-fuel ratio control},
      • booktitle = {Time Delay Systems: Methods, Applications and New Trends},
      • year = 2012,
      • series = {Lect. Notes Control and Inf. Science},
      • pages = {319--330},
      • publisher = {Springer}
      • }
    •  Wollaeger, James; Kumar, Sri Adarsh; Onori, Simona; Filev, Dimitar; Ozguner, Umit; Rizzoni, Giorgio; Di Cairano, S., "Cloud-computing based velocity profile generation for minimum fuel consumption: A dynamic programming based solution", Proc. American Control Conf., 2012, pp. 2108-2113.
      BibTeX
      • @Inproceedings{wollaeger2012cloud,
      • author = {Wollaeger, James and Kumar, Sri Adarsh and Onori, Simona and Filev, Dimitar and Ozguner, Umit and Rizzoni, Giorgio and Di Cairano, S.},
      • title = {Cloud-computing based velocity profile generation for minimum fuel consumption: A dynamic programming based solution},
      • booktitle = {Proc. American Control Conf.},
      • year = 2012,
      • pages = {2108--2113}
      • }
    •  Bemporad, Alberto; Di Cairano, S., "Model-predictive control of discrete hybrid stochastic Automata", IEEE Trans. automatic Control, Vol. 56, No. 6, pp. 1307-1321, 2011.
      BibTeX
      • @Article{bemporad2011model,
      • author = {Bemporad, Alberto and Di Cairano, S.},
      • title = {Model-predictive control of discrete hybrid stochastic Automata},
      • journal = {IEEE Trans. automatic Control},
      • year = 2011,
      • volume = 56,
      • number = 6,
      • pages = {1307--1321},
      • publisher = {IEEE}
      • }
    •  Borhan, Hoseinali; Vahidi, Ardalan; Liang, Wei; Phillips, Anthony M; Di Cairano, S.; Kuang, Ming L; McGee, Ryan, "Nonlinear model predictive control of a power-split hybrid electric vehicle: Influence of inclusion of powertrain dynamics", ASME Dynamic Systems and Control Conf., 2011.
      BibTeX
      • @Inproceedings{borhan2011nonlinear,
      • author = {Borhan, Hoseinali and Vahidi, Ardalan and Liang, Wei and Phillips, Anthony M and Di Cairano, S. and Kuang, Ming L and McGee, Ryan},
      • title = {Nonlinear model predictive control of a power-split hybrid electric vehicle: Influence of inclusion of powertrain dynamics},
      • booktitle = {ASME Dynamic Systems and Control Conf.},
      • year = 2011
      • }
    •  Caruntu, Constantin-Florin; Lazar, Mircea; Di Cairano, S.; Gielen, Rob H; van den Bosch, PPJ, "Horizon-1 predictive control of networked controlled vehicle drivetrains", Proc. IFAC World Congress, 2011, pp. 3824-3830.
      BibTeX
      • @Inproceedings{caruntu2011horizon,
      • author = {Caruntu, Constantin-Florin and Lazar, Mircea and Di Cairano, S. and Gielen, Rob H and van den Bosch, PPJ},
      • title = {Horizon-1 predictive control of networked controlled vehicle drivetrains},
      • booktitle = {Proc. IFAC World Congress},
      • year = 2011,
      • pages = {3824--3830}
      • }
    •  Caruntu, Constantin Florin; Balau, Andreea Elena; Lazar, Mircea; van den Bosch, Paul; Di Cairano, S., "A predictive control solution for driveline oscillations damping", Proc. of Hybrid Systems: Computation and Control, 2011, pp. 181-190.
      BibTeX
      • @Inproceedings{caruntu2011predictive,
      • author = {Caruntu, Constantin Florin and Balau, Andreea Elena and Lazar, Mircea and van den Bosch, Paul and Di Cairano, S.},
      • title = {A predictive control solution for driveline oscillations damping},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2011,
      • pages = {181--190}
      • }
    •  Di Cairano, S.; Kolmanovsky, Ilya V, "Constrained actuator coordination by virtual state governing", Proc. 50th IEEE Conf. Decision and Control and European Control Conf., 2011, pp. 5491-5496.
      BibTeX
      • @Inproceedings{di2011constrained,
      • author = {Di Cairano, S. and Kolmanovsky, Ilya V},
      • title = {Constrained actuator coordination by virtual state governing},
      • booktitle = {Proc. 50th IEEE Conf. Decision and Control and European Control Conf.},
      • year = 2011,
      • pages = {5491--5496}
      • }
    •  Di Cairano, S.; Liang, W; Kolmanovsky, I V; Kuang, M L; Phillips, A M, "Engine power smoothing energy management strategy for a series hybrid electric vehicle", Proc. American Control Conf., 2011, pp. 2101-2106.
      BibTeX
      • @Inproceedings{di2011engine,
      • author = {Di Cairano, S. and Liang, W and Kolmanovsky, I V and Kuang, M L and Phillips, A M},
      • title = {Engine power smoothing energy management strategy for a series hybrid electric vehicle},
      • booktitle = {Proc. American Control Conf.},
      • year = 2011,
      • pages = {2101--2106}
      • }
    •  Park, Hyeongjun; Di Cairano, S.; Kolmanovsky, Ilya V, "Linear Quadratic Model Predictive Control Approach to Spacecraft Rendezvous and Docking", AAS-AIAA Symp. Spaceflight Mechanics, 2011.
      BibTeX
      • @Inproceedings{park2011linear,
      • author = {Park, Hyeongjun and Di Cairano, S. and Kolmanovsky, Ilya V},
      • title = {Linear Quadratic Model Predictive Control Approach to Spacecraft Rendezvous and Docking},
      • booktitle = {AAS-AIAA Symp. Spaceflight Mechanics},
      • year = 2011
      • }
    •  Park, Hyeongjun; Di Cairano, S.; Kolmanovsky, Ilya V, "Model predictive control for spacecraft rendezvous and docking with a rotating/tumbling platform and for debris avoidance", Proc. American Control Conf., 2011, pp. 1922-1927.
      BibTeX
      • @Inproceedings{park2011model,
      • author = {Park, Hyeongjun and Di Cairano, S. and Kolmanovsky, Ilya V},
      • title = {Model predictive control for spacecraft rendezvous and docking with a rotating/tumbling platform and for debris avoidance},
      • booktitle = {Proc. American Control Conf.},
      • year = 2011,
      • pages = {1922--1927}
      • }
    •  Park, Hyeongjun; Di Cairano, S.; Kolmanovsky, Ilya V, "Model Predictive Control of spacecraft docking with a non-rotating platform", Proc. IFAC World Congress, 2011, pp. 8485-8490.
      BibTeX
      • @Inproceedings{park2011modelp,
      • author = {Park, Hyeongjun and Di Cairano, S. and Kolmanovsky, Ilya V},
      • title = {Model Predictive Control of spacecraft docking with a non-rotating platform},
      • booktitle = {Proc. IFAC World Congress},
      • year = 2011,
      • pages = {8485--8490}
      • }
    •  Ripaccioli, Giulio; Bernardini, Daniele; Di Cairano, S.; Bemporad, Alberto; Kolmanovsky, I V, "A stochastic model predictive control approach for series hybrid electric vehicle power management", Proc. American Control Conf., 2010, pp. 5844-5849.
      BibTeX
      • @Inproceedings{Ripaccioli2010stochastic,
      • author = {Ripaccioli, Giulio and Bernardini, Daniele and Di Cairano, S. and Bemporad, Alberto and Kolmanovsky, I V},
      • title = {A stochastic model predictive control approach for series hybrid electric vehicle power management},
      • booktitle = {Proc. American Control Conf.},
      • year = 2010,
      • pages = {5844--5849}
      • }
    •  Bemporad, Alberto; Di Cairano, S.; Henriksson, Erik; Johansson, Karl Henrik, "Hybrid model predictive control based on wireless sensor feedback: An experimental study", Int. J. Robust Nonlinear Control, Vol. 20, No. 2, pp. 209-225, 2010.
      BibTeX
      • @Article{bemporad2010hybrid,
      • author = {Bemporad, Alberto and Di Cairano, S. and Henriksson, Erik and Johansson, Karl Henrik},
      • title = {Hybrid model predictive control based on wireless sensor feedback: An experimental study},
      • journal = {Int. J. Robust Nonlinear Control},
      • year = 2010,
      • volume = 20,
      • number = 2,
      • pages = {209--225}
      • }
    •  Bichi, M; Ripaccioli, Giulio; Di Cairano, S.; Bernardini, Daniele; Bemporad, Alberto; Kolmanovsky, I V, "Stochastic model predictive control with driver behavior learning for improved powertrain control", Proc. 49th IEEE Conf. Decision and Control, 2010, pp. 6077-6082.
      BibTeX
      • @Inproceedings{bichi2010stochastic,
      • author = {Bichi, M and Ripaccioli, Giulio and Di Cairano, S. and Bernardini, Daniele and Bemporad, Alberto and Kolmanovsky, I V},
      • title = {Stochastic model predictive control with driver behavior learning for improved powertrain control},
      • booktitle = {Proc. 49th IEEE Conf. Decision and Control},
      • year = 2010,
      • pages = {6077--6082}
      • }
    •  Borhan, H Ali; Zhang, Chen; Vahidi, Ardalan; Phillips, Anthony M; Kuang, Ming L; Di Cairano, S., "Nonlinear model predictive control for power-split hybrid electric vehicles", Proc. 49th IEEE Conf. Decision and Control, 2010, pp. 4890-4895.
      BibTeX
      • @Inproceedings{borhan2010nonlinear,
      • author = {Borhan, H Ali and Zhang, Chen and Vahidi, Ardalan and Phillips, Anthony M and Kuang, Ming L and Di Cairano, S.},
      • title = {Nonlinear model predictive control for power-split hybrid electric vehicles},
      • booktitle = {Proc. 49th IEEE Conf. Decision and Control},
      • year = 2010,
      • pages = {4890--4895}
      • }
    •  Di Cairano, S.; Tseng, H E, "Driver-assist steering by active front steering and differential braking: design, implementation and experimental evaluation of a switched model predictive control approach", Proc. 49th IEEE Conf. Decision and Control, 2010, pp. 2886-2891.
      BibTeX
      • @Inproceedings{di2010driver,
      • author = {Di Cairano, S. and Tseng, H E},
      • title = {Driver-assist steering by active front steering and differential braking: design, implementation and experimental evaluation of a switched model predictive control approach},
      • booktitle = {Proc. 49th IEEE Conf. Decision and Control},
      • year = 2010,
      • pages = {2886--2891}
      • }
    •  Di Cairano, S.; Bemporad, Alberto, "Equivalent piecewise affine models of linear hybrid automata", IEEE Trans. automatic Control, Vol. 55, No. 2, pp. 498-502, 2010.
      BibTeX
      • @Article{di2010equivalent,
      • author = {Di Cairano, S. and Bemporad, Alberto},
      • title = {Equivalent piecewise affine models of linear hybrid automata},
      • journal = {IEEE Trans. automatic Control},
      • year = 2010,
      • volume = 55,
      • number = 2,
      • pages = {498--502}
      • }
    •  Di Cairano, S.; Bemporad, Alberto, "Model predictive control tuning by controller matching", IEEE Trans. automatic Control, Vol. 55, No. 1, pp. 185-190, 2010.
      BibTeX
      • @Article{di2010model,
      • author = {Di Cairano, S. and Bemporad, Alberto},
      • title = {Model predictive control tuning by controller matching},
      • journal = {IEEE Trans. automatic Control},
      • year = 2010,
      • volume = 55,
      • number = 1,
      • pages = {185--190}
      • }
    •  Di Cairano, S.; Yanakiev, Diana; Bemporad, Alberto; Kolmanovsky, Ilya; Hrovat, Davor, "Model predictive powertrain control: an application to idle speed regulation" in automotive Model Predictive Control, Lect. Notes Control and Inf. Science, pp. 183-194, Springer, 2010.
      BibTeX
      • @Incollection{di2010modelp,
      • author = {Di Cairano, S. and Yanakiev, Diana and Bemporad, Alberto and Kolmanovsky, Ilya and Hrovat, Davor},
      • title = {Model predictive powertrain control: an application to idle speed regulation},
      • booktitle = {automotive Model Predictive Control},
      • year = 2010,
      • series = {Lect. Notes Control and Inf. Science},
      • pages = {183--194},
      • publisher = {Springer}
      • }
    •  Di Cairano, S.; Kolmanovsky, Ilya V, "Rate limited reference governor for network controlled systems", Proc. American Control Conf., 2010, pp. 3704-3709.
      BibTeX
      • @Inproceedings{di2010rate,
      • author = {Di Cairano, S. and Kolmanovsky, Ilya V},
      • title = {Rate limited reference governor for network controlled systems},
      • booktitle = {Proc. American Control Conf.},
      • year = 2010,
      • pages = {3704--3709}
      • }
    •  Di Cairano, S.; Tseng, H Eric; Bernardini, Daniele; Bemporad, Alberto, "Steering vehicle control by switched model predictive control", Proc. IFAC Work. Advances Automotive Controls, 2010, pp. 1-6.
      BibTeX
      • @Inproceedings{di2010steering,
      • author = {Di Cairano, S. and Tseng, H Eric and Bernardini, Daniele and Bemporad, Alberto},
      • title = {Steering vehicle control by switched model predictive control},
      • booktitle = {Proc. IFAC Work. Advances Automotive Controls},
      • year = 2010,
      • pages = {1--6}
      • }
    •  Siegel, J B; Stefanopoulou, A G; Ripaccioli, G; Di Cairano, S., "Purge Scheduling for Dead-Ended Anode Operation of PEM Fuel Cells" in Control Handbook, 2nd Edition: Control System Applications, Levine, W., Eds., CRC Press, 2010.
      BibTeX
      • @Incollection{siegel2010purge,
      • author = {Siegel, J B and Stefanopoulou, A G and Ripaccioli, G and Di Cairano, S.},
      • title = {Purge Scheduling for Dead-Ended Anode Operation of PEM Fuel Cells},
      • booktitle = {Control Handbook, 2nd Edition: Control System Applications},
      • year = 2010,
      • editor = {Levine, W.},
      • publisher = {CRC Press}
      • }
    •  Bernardini, D.; Di Cairano, S.; Bemporad, A.; Tsengz, H.E., "Drive-by-wire vehicle stabilization and yaw regulation: a hybrid Model Predictive Control design", Proc. 48th IEEE Conf. Decision and Control and Chinese Control Conf., 2009, pp. 7621-7626.
      BibTeX
      • @Inproceedings{Bernardini2009,
      • author = {Bernardini, D. and Di Cairano, S. and Bemporad, A. and Tsengz, H.E.},
      • title = {Drive-by-wire vehicle stabilization and yaw regulation: a hybrid Model Predictive Control design},
      • booktitle = {Proc. 48th IEEE Conf. Decision and Control and Chinese Control Conf.},
      • year = 2009,
      • pages = {7621--7626}
      • }
    •  Hermans, R.M.; Lazar, M.; Di Cairano, S.; Kolmanovsky, I., "Low-complexity model predictive control of ElectroMagnetic actuators", Proc. IEEE Conf. EUROCON, 2009, pp. 1972-1977.
      BibTeX
      • @Inproceedings{Hermans2009,
      • author = {Hermans, R.M. and Lazar, M. and Di Cairano, S. and Kolmanovsky, I.},
      • title = {Low-complexity model predictive control of ElectroMagnetic actuators},
      • booktitle = {Proc. IEEE Conf. EUROCON},
      • year = 2009,
      • pages = {1972--1977}
      • }
    •  Bemporad, Alberto; Di Cairano, S.; Ferrari-Trecate, Giancarlo; Kvasnica, Michal; Morari, Manfred; Paoletti, Simone, "Tools for modeling, simulation, control, and verification of piecewise affine systems" in Handbook of Hybrid Systems Control: Theory, Tools, and Applications, pp. 297-324, Cambridge University Press, 2009.
      BibTeX
      • @Incollection{bemporad2009tools,
      • author = {Bemporad, Alberto and Di Cairano, S. and Ferrari-Trecate, Giancarlo and Kvasnica, Michal and Morari, Manfred and Paoletti, Simone},
      • title = {Tools for modeling, simulation, control, and verification of piecewise affine systems},
      • booktitle = {Handbook of Hybrid Systems Control: Theory, Tools, and Applications},
      • year = 2009,
      • pages = {297--324},
      • publisher = {Cambridge University Press}
      • }
    •  Benvenuti, Luca; Balluchi, Andrea; Bemporad, Alberto; Di Cairano, S.; Johansson, Bengt; Johansson, Rolf; Sangiovanni Vincentelli, Alberto; Tunestal, Per, "Automotive control" in Handbook of Hybrid Systems Control: Theory, Tools, and Applications, pp. 439-470, Cambridge University Press, 2009.
      BibTeX
      • @Incollection{benvenuti2009automotive,
      • author = {Benvenuti, Luca and Balluchi, Andrea and Bemporad, Alberto and {Di Cairano}, S. and Johansson, Bengt and Johansson, Rolf and Sangiovanni Vincentelli, Alberto and Tunestal, Per},
      • title = {Automotive control},
      • booktitle = {Handbook of Hybrid Systems Control: Theory, Tools, and Applications},
      • year = 2009,
      • pages = {439--470},
      • publisher = {Cambridge University Press}
      • }
    •  Di Cairano, S.; Bemporad, Alberto; Julvez, Jorge, "Event-driven optimization-based control of hybrid systems with integral continuous-time dynamics", IFAC Automatica, Vol. 45, No. 5, pp. 1243-1251, 2009.
      BibTeX
      • @Article{di2009event,
      • author = {Di Cairano, S. and Bemporad, Alberto and Julvez, Jorge},
      • title = {Event-driven optimization-based control of hybrid systems with integral continuous-time dynamics},
      • journal = {IFAC Automatica},
      • year = 2009,
      • volume = 45,
      • number = 5,
      • pages = {1243--1251}
      • }
    •  Di Cairano, S.; Bemporad, Alberto, "Model predictive controller matching: Can MPC enjoy small signal properties of my favorite linear controller?", Proc. European Control Conf., 2009, pp. 2217-2222.
      BibTeX
      • @Inproceedings{di2009model,
      • author = {Di Cairano, S. and Bemporad, Alberto},
      • title = {Model predictive controller matching: Can MPC enjoy small signal properties of my favorite linear controller?},
      • booktitle = {Proc. European Control Conf.},
      • year = 2009,
      • pages = {2217--2222}
      • }
    •  Hermans, RM; Lazar, Mircea; Di Cairano, S.; Kolmanovsky, IV, "Low-complexity model predictive control of electromagnetic actuators with a stability guarantee", Proc. American Control Conf., 2009, pp. 2708-2713.
      BibTeX
      • @Inproceedings{hermans2009low,
      • author = {Hermans, RM and Lazar, Mircea and Di Cairano, S. and Kolmanovsky, IV},
      • title = {Low-complexity model predictive control of electromagnetic actuators with a stability guarantee},
      • booktitle = {Proc. American Control Conf.},
      • year = 2009,
      • pages = {2708--2713}
      • }
    •  Ripaccioli, Giulio; Siegel, Jason B; Stefanopoulou, Anna G; Di Cairano, S., "Derivation and simulation results of a hybrid model predictive control for water purge scheduling in a fuel cell", ASME Dynamic Systems and Control Conf., 2009.
      BibTeX
      • @Inproceedings{ripaccioli2009derivation,
      • author = {Ripaccioli, Giulio and Siegel, Jason B and Stefanopoulou, Anna G and Di Cairano, S.},
      • title = {Derivation and simulation results of a hybrid model predictive control for water purge scheduling in a fuel cell},
      • booktitle = {ASME Dynamic Systems and Control Conf.},
      • year = 2009
      • }
    •  Ripaccioli, Giulio; Bemporad, Alberto; Assadian, F; Dextreit, C; Di Cairano, S.; Kolmanovsky, I V, "Hybrid modeling, identification, and predictive control: An application to hybrid electric vehicle energy management", Proc. of Hybrid Systems: Computation and Control, 2009, pp. 321-335.
      BibTeX
      • @Inproceedings{ripaccioli2009hybrid,
      • author = {Ripaccioli, Giulio and Bemporad, Alberto and Assadian, F and Dextreit, C and Di Cairano, S. and Kolmanovsky, I V},
      • title = {Hybrid modeling, identification, and predictive control: An application to hybrid electric vehicle energy management},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2009,
      • series = {Lect. Notes Computer Science},
      • pages = {321--335},
      • publisher = {Springer}
      • }
    •  Trimboli, Sergio; Di Cairano, S.; Bemporad, Alberto; Kolmanovsky, Ilya V, "Model predictive control for automotive time-delay processes: an application to air-to-fuel ratio control", IFAC Worksh. Time Delay Systems, 2009, vol. 8, pp. 90-95.
      BibTeX
      • @Inproceedings{trimboli2009model,
      • author = {Trimboli, Sergio and Di Cairano, S. and Bemporad, Alberto and Kolmanovsky, Ilya V},
      • title = {Model predictive control for automotive time-delay processes: an application to air-to-fuel ratio control},
      • booktitle = {IFAC Worksh. Time Delay Systems},
      • year = 2009,
      • volume = 8,
      • number = 1,
      • pages = {90--95}
      • }
    •  Di Cairano, S.; Lazar, Mircea; Bemporad, Alberto; Heemels, M, "A control Lyapunov approach to predictive control of hybrid systems", Proc. of Hybrid Systems: Computation and Control, 2008, pp. 130-143.
      BibTeX
      • @Inproceedings{di2008control,
      • author = {Di Cairano, S. and Lazar, Mircea and Bemporad, Alberto and Heemels, M},
      • title = {A control Lyapunov approach to predictive control of hybrid systems},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2008,
      • series = {Lect. Notes Computer Science},
      • pages = {130--143},
      • publisher = {Springer}
      • }
    •  Di Cairano, S.; Pasini, Alessandro; Bemporad, Alberto; Murray, Richard M, "Convergence properties of dynamic agents consensus networks with broken links", Proc. American Control Conf., 2008, pp. 1362-1367.
      BibTeX
      • @Inproceedings{di2008convergence,
      • author = {Di Cairano, S. and Pasini, Alessandro and Bemporad, Alberto and Murray, Richard M},
      • title = {Convergence properties of dynamic agents consensus networks with broken links},
      • booktitle = {Proc. American Control Conf.},
      • year = 2008,
      • pages = {1362--1367}
      • }
    •  Di Cairano, S.; Johansson, Karl Henrik; Bemporad, Alberto; Murray, Richard M, "Dynamic network state estimation in networked control systems", Proc. of Hybrid Systems: Computation and Control, 2008, pp. 144-157.
      BibTeX
      • @Inproceedings{di2008dynamic,
      • author = {Di Cairano, S. and Johansson, Karl Henrik and Bemporad, Alberto and Murray, Richard M},
      • title = {Dynamic network state estimation in networked control systems},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2008,
      • series = {Lect. Notes Computer Science},
      • pages = {144--157},
      • publisher = {Springer}
      • }
    •  Di Cairano, S., "Model predictive control of hybrid dynamical systems: Stabilization, event-driven, and stochastic control", 2008, Ph. D. Thesis, Dipartimento Ingegneria dell'Informazione, Italy.
      BibTeX
      • @Phdthesis{di2008model,
      • author = {Di Cairano, S.},
      • title = {Model predictive control of hybrid dynamical systems: Stabilization, event-driven, and stochastic control},
      • school = {Ph. D. Thesis, Dipartimento Ingegneria dell'Informazione, Italy},
      • year = 2008
      • }
    •  Di Cairano, S.; Yanakiev, Diana; Bemporad, Alberto; Kolmanovsky, IV; Hrovat, Davor, "An MPC design flow for automotive control and applications to idle speed regulation", Proc. 46th IEEE Conf. Decision and Control, 2008, pp. 5686-5691.
      BibTeX
      • @Inproceedings{di2008mpc,
      • author = {Di Cairano, S. and Yanakiev, Diana and Bemporad, Alberto and Kolmanovsky, IV and Hrovat, Davor},
      • title = {An MPC design flow for automotive control and applications to idle speed regulation},
      • booktitle = {Proc. 46th IEEE Conf. Decision and Control},
      • year = 2008,
      • pages = {5686--5691}
      • }
    •  Alessio, A.; Di Cairano, S., "Tools for hybrid control design", 2007.
      BibTeX
      • @Misc{Alessio2007,
      • author = {Alessio, A. and Di Cairano, S.},
      • title = {Tools for hybrid control design},
      • year = 2007,
      • note = {Hybrid Systems: Computation and Control Conf., Poster presentation}
      • }
    •  Bemporad, A.; Di Cairano, S.; Henriksson, E.; Johansson, K. H., "Hybrid model predictive control based on wireless sensor feedback: An experimental study", Proc. 46th IEEE Conf. Decision and Control, 2007, pp. 5062-5067.
      BibTeX
      • @Inproceedings{Bemporad2007,
      • author = {Bemporad, A. and Di Cairano, S. and Henriksson, E. and Johansson, K. H.},
      • title = {Hybrid model predictive control based on wireless sensor feedback: An experimental study},
      • booktitle = {Proc. 46th IEEE Conf. Decision and Control},
      • year = 2007,
      • pages = {5062--5067}
      • }
    •  Aly, Mohammed; Burdick, Joel W; Carson, Vanessa; Di Cairano, S.; Lindzey, Laura; Ma, Jeremy; Murray, Richard M; Petras, Richard; Pfister, Sam; Rizzo, Dominic, "Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge," Tech. Rep., DARPA, 2007.
      BibTeX
      • @Techreport{aly2007sensing,
      • author = {Aly, Mohammed and Burdick, Joel W and Carson, Vanessa and {Di Cairano}, S. and Lindzey, Laura and Ma, Jeremy and Murray, Richard M and Petras, Richard and Pfister, Sam and Rizzo, Dominic},
      • title = {Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge},
      • institution = {DARPA},
      • year = 2007,
      • note = {Available at citeseerx.ist.psu.edu}
      • }
    •  Bemporad, Alberto; Di Cairano, S.; Kolmanovsky, Ilya V; Hrovat, Davor, "Hybrid modeling and control of a multibody magnetic actuator for automotive applications", Proc. 46th IEEE Conf. Decision and Control, 2007, pp. 5270-5275.
      BibTeX
      • @Inproceedings{bemporad2007hybrid,
      • author = {Bemporad, Alberto and Di Cairano, S. and Kolmanovsky, Ilya V and Hrovat, Davor},
      • title = {Hybrid modeling and control of a multibody magnetic actuator for automotive applications},
      • booktitle = {Proc. 46th IEEE Conf. Decision and Control},
      • year = 2007,
      • pages = {5270--5275}
      • }
    •  Di Cairano, S.; Bemporad, Alberto; Kolmanovsky, Ilya V; Hrovat, Davor, "Model predictive control of magnetic automotive actuators", Proc. American Control Conf., 2007, pp. 5082-5087.
      BibTeX
      • @Inproceedings{di2007model,
      • author = {Di Cairano, S. and Bemporad, Alberto and Kolmanovsky, Ilya V and Hrovat, Davor},
      • title = {Model predictive control of magnetic automotive actuators},
      • booktitle = {Proc. American Control Conf.},
      • year = 2007,
      • pages = {5082--5087}
      • }
    •  Di Cairano, S.; Bemporad, Alberto; Caldelli, Angelita, "Moving target detection and tracking in wireless sensor networks", Proc. European Control Conf., 2007.
      BibTeX
      • @Inproceedings{di2007moving,
      • author = {Di Cairano, S. and Bemporad, Alberto and Caldelli, Angelita},
      • title = {Moving target detection and tracking in wireless sensor networks},
      • booktitle = {Proc. European Control Conf.},
      • year = 2007
      • }
    •  Epstein, Michael; Shi, Ling; Di Cairano, S.; Murray, Richard M, "Control over a network: Using actuation buffers to reduce transmission frequency", Proc. European Control Conf., 2007, pp. 597-602.
      BibTeX
      • @Inproceedings{epstein2007control,
      • author = {Epstein, Michael and Shi, Ling and Di Cairano, S. and Murray, Richard M},
      • title = {Control over a network: Using actuation buffers to reduce transmission frequency},
      • booktitle = {Proc. European Control Conf.},
      • year = 2007,
      • pages = {597--602}
      • }
    •  Di Cairano, S; Bemporad, Alberto; Kolmanovsky, I V; Hrovat, Davor, "Model predictive control of magnetically actuated mass spring dampers for automotive applications", Int. J. Control, Vol. 80, No. 11, pp. 1701-1716, 2007.
      BibTeX
      • @Article{sdc07,
      • author = {Di Cairano, S and Bemporad, Alberto and Kolmanovsky, I V and Hrovat, Davor},
      • title = {Model predictive control of magnetically actuated mass spring dampers for automotive applications},
      • journal = {Int. J. Control},
      • year = 2007,
      • volume = 80,
      • number = 11,
      • pages = {1701--1716}
      • }
    •  Bemporad, Alberto; Di Cairano, S.; Julvez, Jorge, "Event-based model predictive control and verification of integral continuous-time hybrid automata", Proc. of Hybrid Systems: Computation and Control, 2006, pp. 93-107.
      BibTeX
      • @Inproceedings{bemporad2006event,
      • author = {Bemporad, Alberto and Di Cairano, S. and Julvez, Jorge},
      • title = {Event-based model predictive control and verification of integral continuous-time hybrid automata},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2006,
      • series = {Lect. Notes Computer Science},
      • pages = {93--107},
      • publisher = {Springer}
      • }
    •  Di Cairano, S.; Bemporad, Alberto; Kvasnica, Michal, "An architecture for data interchange of switched linear systems," Tech. Rep., Technical Report D 3.3. 1, HYCON NoE, 2006.
      BibTeX
      • @Techreport{cairano2006architecture,
      • author = {Di Cairano, S. and Bemporad, Alberto and Kvasnica, Michal},
      • title = {An architecture for data interchange of switched linear systems},
      • institution = {Technical Report D 3.3. 1, HYCON NoE},
      • year = 2006
      • }
    •  Di Cairano, S.; Bemporad, Alberto, "An equivalence result between linear hybrid automata and piecewise affine systems", Proc. 45th IEEE Conf. Decision and Control, 2006, pp. 2631-2636.
      BibTeX
      • @Inproceedings{di2006equivalence,
      • author = {Di Cairano, S. and Bemporad, Alberto},
      • title = {An equivalence result between linear hybrid automata and piecewise affine systems},
      • booktitle = {Proc. 45th IEEE Conf. Decision and Control},
      • year = 2006,
      • pages = {2631--2636}
      • }
    •  Di Cairano, S.; Bemporad, Alberto; Kolmanovsky, Ilya V; Hrovat, Davor, "Model predictive control of nonlinear mechatronic systems: An application to a magnetically atuated", IFAC Worksh. Analysis and Design of Hybrid Systems, 2006, pp. 241-246.
      BibTeX
      • @Inproceedings{di2006model,
      • author = {Di Cairano, S. and Bemporad, Alberto and Kolmanovsky, Ilya V and Hrovat, Davor},
      • title = {Model predictive control of nonlinear mechatronic systems: An application to a magnetically atuated},
      • booktitle = {IFAC Worksh. Analysis and Design of Hybrid Systems},
      • year = 2006,
      • pages = {241--246}
      • }
    •  Bemporad, Alberto; Di Cairano, S.; Julvez, Jorge, "Event-driven optimal control of integral continuous-time hybrid automata", Proc. 44th IEEE Conf. Decision and Control and European Control Conf., 2005, pp. 1409-1414.
      BibTeX
      • @Inproceedings{bemporad2005event,
      • author = {Bemporad, Alberto and Di Cairano, S. and Julvez, Jorge},
      • title = {Event-driven optimal control of integral continuous-time hybrid automata},
      • booktitle = {Proc. 44th IEEE Conf. Decision and Control and European Control Conf.},
      • year = 2005,
      • pages = {1409--1414}
      • }
    •  Bemporad, Alberto; Di Cairano, S.; Giorgetti, Nicolo, "Model predictive control of hybrid systems with applications to supply chain management", Congress of ANIPLA, 2005, pp. 1-15.
      BibTeX
      • @Inproceedings{bemporad2005model,
      • author = {Bemporad, Alberto and Di Cairano, S. and Giorgetti, Nicolo},
      • title = {Model predictive control of hybrid systems with applications to supply chain management},
      • booktitle = {Congress of ANIPLA},
      • year = 2005,
      • pages = {1--15}
      • }
    •  Bemporad, Alberto; Di Cairano, S., "Optimal control of discrete hybrid stochastic automata", Proc. of Hybrid Systems: Computation and Control, 2005, pp. 151-167.
      BibTeX
      • @Inproceedings{bemporad2005optimal,
      • author = {Bemporad, Alberto and Di Cairano, S.},
      • title = {Optimal control of discrete hybrid stochastic automata},
      • booktitle = {Proc. of Hybrid Systems: Computation and Control},
      • year = 2005,
      • series = {Lect. Notes Computer Science},
      • pages = {151--167},
      • publisher = {Springer}
      • }
    •  Di Cairano, S., "Optimal Control of Hybrid Systems with Stochastic Events", 2004, M.Sc Thesis, School of Engineering, Universita'di Siena, Italy.
      BibTeX
      • @Mastersthesis{bemporadoptimal,
      • author = {Di Cairano, S.},
      • title = {Optimal Control of Hybrid Systems with Stochastic Events},
      • school = {M.Sc Thesis, School of Engineering, Universita'di Siena, Italy},
      • year = 2004
      • }
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    • Title: "System and Method for Controlling Autonomous or Semi-Autonomous Vehicle"
      Inventors: Berntorp, Karl; Di Cairano, Stefano
      Patent No.: 9,568,915
      Issue Date: Feb 14, 2017
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      Inventors: Di Cairano, Stefano; Haghighat, Sohrab; Cheng, Yongfeng
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      Inventors: Di Cairano, Stefano; Ulusoy, Mehmet A; Haghighat, Sohrab
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    • Title: "System and Method for Semi-Autonomous Driving of Vehicles"
      Inventors: Di Cairano, Stefano; Zafeiropoulos, Spyridon
      Patent No.: 9,199,667
      Issue Date: Dec 1, 2015
    • Title: "Determining Steering Angle of Steering Column of Vehicle"
      Inventors: Di Cairano, Stefano
      Patent No.: 9,073,569
      Issue Date: Jul 7, 2015
    • Title: "System and Method for Controlling Electric Power Steering System"
      Inventors: Di Cairano, Stefano; Zafeiropoulos, Spyridon
      Patent No.: 9,037,353
      Issue Date: May 19, 2015
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