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Michael Ruderman

Michael Ruderman

Professor

Department of Engineering Sciences >

 

+47 37 23 31 52

Office:
D3046 ( Jon Lilletuns vei 9, Grimstad )
Office hours:
on appointment

University of Agder, Jun 2020 - present

University of Agder, Oct 2015 - Jun 2020, Associate Professor

Nagaoka University of Technology, Apr 2015 - Sep 2015, Associate Professor

Nagoya Institute of Technology, Apr 2013 - Mar 2015, Assistant Professor

Technical University Dortmund, May 2006 - Mar 2013, Research Associate

Full CV

Academic interests

Research
motion control, robotics, nonlinear systems with memory, hybrid control systems

Teaching

  • MAS508 Control Theory (MSc), falls 2015-2020
  • MAS602 Advanced Control and Robotics (PhD), springs 2017, 2019, 2021, 2022
  • MAS239 Feedback Control Systems 1 (BSc), from fall 2021

Activities and contributions

Projects

CLOVER: Robust control, state estimation and disturbance compensation for highly dynamic environmental mechatronic systems (H2020 MSCA-RISE)

Hybrid modeling and control of mechatronic systems using a piecewise affine dynamics approach (completed PhD Research Fellow Philipp T Pasolli)

Model-based control of energy harvesting in suspension systems (PhD Research Fellow Rafael Tavares)

Dynamics and Control of Fractional-Order Systems (RCN IS-DAAD program)

New Compensators for Non-Minimum Phase Systems (RCN IS-DAAD program)

PhD project (co-supervisor) in Research Training Group NanoFab at TU-Ilmenau

PhD project (co-supervisor) in Nonlinear Analysis and Dynamical Systems at UT Dallas

Scientific publications

  • Voss, Benjamin; Ruderman, Michael; Weise, Christoph; Reger, Johann (2022). Comparison of Fractional-Order and Integer-Order H-infinity Control of a Non-Collocated Two-Mass Oscillator. Proceeding of 10th IFAC Symposium on Robust Control Design (ROCOND 2022). ISBN: 978-3-902823-37-3. IFAC Papers Online. regular paper.
  • Voss, Benjamin; Weise, Christoph; Ruderman, Michael; Reger, Johann (2022). Fractional-Order Partial Cancellation of Integer-Order Poles and Zeros. Proceeding of 10th IFAC Symposium on Robust Control Design (ROCOND 2022). ISBN: 978-3-902823-37-3. IFAC Papers Online. regular paper.
  • Ruderman, Michael (2021). Convergent dynamics of optimal nonlinear damping control. 6th IFAC Conference on Analysis and Control of Chaotic Systems CHAOS 2021. IFAC Papers Online. regular paper. s 141 - 144.
  • Ano, Shuta; Seki, Kenta; Ruderman, Michael; Iwasaki, Makoto (2020). Estimating Sway Angle of Pendulum System Using Hybrid State Observer Incorporating Continuous and Discrete Sensing Signals. IEEJ Journal of Industry Applications. ISSN: 2187-1094. 10 (1). s 69 - 75. doi:10.1541/IEEJJIA.20004820.
  • Ruderman, Michael (2021). Extended fractional-order Jeffreys model of viscoelastic hydraulic cylinder. Journal of Dynamic Systems Measurement, and Control. ISSN: 0022-0434. 143 (7). s 074502. doi:10.1115/1.4050253.
  • Tavares, Rafael Pinto; Ruderman, Michael (2021). Frequency-domain experimental setup for mechatronic and suspension system components. Proceeding of IEEE International Conference on Mechatronics (ICM2021). ISBN: 978-1-5386-6959-4. IEEE conference proceedings. regular paper.
  • Ruderman, Michael (2021). On stiffness and damping of vibro-impact dynamics of backlash. IEEE 30th International Symposium on Industrial Electronics (ISIE). ISBN: 978-1-7281-5635-4. IEEE conference proceedings. special session paper.
  • Ruderman, Michael (2022). One-parameter robust global frequency estimator for slow-varying amplitude and noisy oscillations. Mechanical systems and signal processing. ISSN: 0888-3270. 170s 108756. doi:10.1016/j.ymssp.2021.108756.
  • Ruderman, Michael (2021). Optimal nonlinear damping control of second-order systems. Journal of the Franklin Institute. ISSN: 0016-0032. 358 (8). s 4292 - 4302. doi:10.1016/j.jfranklin.2021.03.022.
  • Ruderman, Michael (2021). Optimal terminal sliding mode control for second-order motion systems. Proceedings of IEEE CDC2021 conference. ISBN: 978-1-6654-3659-5. IEEE conference proceedings. regular paper. s 6421 - 6426.
  • Weise, Christoph; Pfeffer, Philipp; Reger, Johann; Ruderman, Michael (2021). Parameter Identification of Fractional-Order LTI Systems using Modulating Functions with Memory Reduction. Proceedings of IEEE CDC2021 conference. ISBN: 978-1-6654-3659-5. IEEE conference proceedings. regular paper.
  • Ruderman, Michael; Kaltenbacher, Stefan; Horn, Martin (2021). Pressure-flow dynamics with semi-stable limit cycles in hydraulic cylinder circuits. Proceeding of IEEE International Conference on Mechatronics (ICM2021). ISBN: 978-1-5386-6959-4. IEEE conference proceedings. special session paper.
  • Ruderman, Michael (2021). Robust output feedback control of non-collocated low-damped oscillating load. Proceeding of IEEE 2021 29th Mediterranean Conference on Control and Automation (MED). ISBN: 978-1-6654-2258-1. IEEE conference proceedings. regular paper. s 639 - 644.
  • Tranninger, Markus; Ruderman, Michael (2021). Stability Analysis of a Linear Parameter Varying Adaptive Output Feedback Control System. 4th IFAC Workshop on Linear Parameter-Varying Systems. ISBN: 9781713807773. IFAC Papers Online. Chapter.
  • Ruderman, Michael (2021). Stick-slip and convergence of feedback-controlled systems with Coulomb friction. Asian journal of control. ISSN: 1561-8625. doi:10.1002/asjc.2718.
  • Aracil, Carmen; Sziebig, Gabor; Korondi, Peter; Oh, Sehoon; Tan, Zhichao; Ruderman, Michael; He, Wangli; Ding, Lei; Luo, Hao; Yin, Shen; Haghani, Adel (2021). Toward Smart Systems: Their Sensing and Control in Industrial Electronics and Applications. IEEE Industrial Electronics Magazine. ISSN: 1932-4529. 15 (1). s 104 - 114. doi:10.1109/MIE.2020.3042171.
  • Weise, Christoph; Tavares, Rafael Pinto; Wulf, Kai; Ruderman, Michael; Reger, Johann (2020). A Fractional-Order Control Approach to Ramp Tracking with Memory-Efficient Implementation. Proceeding of IEEE International Workshop on Advanced Motion Control (AMC2020). ISBN: 978-1-7281-3189-4. IEEE conference proceedings. special session paper. s 15 - 22.
  • Tavares, Rafael Pinto; Ruderman, Michael (2020). Dissipation in suspension system augmented by piezoelectric stack: port-Hamiltonian approach. Proceeding IEEE 28th Mediterranean Conference on Control and Automation (MED'2020). ISBN: 978-1-5386-7890-9. IEEE conference proceedings. paper. s 168 - 173.
  • Tavares, Rafael Pinto; Ruderman, Michael (2019). Energy harvesting using piezoelectric transducers for suspension systems. Mechatronics (Oxford). ISSN: 0957-4158. 65doi:10.1016/j.mechatronics.2019.102294.
  • Kapp, Daniela; Weise, Christoph; Ruderman, Michael; Reger, Johann (2020). Fractional-Order System Identification of Viscoelastic Behavior: A Frequency Domain Based Experimental Study. Proceeding of IEEE International Workshop on Advanced Motion Control (AMC2020). ISBN: 978-1-7281-3189-4. IEEE conference proceedings. special session paper. s 153 - 160.
  • Oboe, Roberto; Ruderman, Michael; Fujimoto, Yasutaka (2020). Guest Editorial: Advanced Motion Control for Mechatronic Applications with Precision and Force Requirements. IEEE transactions on industrial electronics (1982. Print). ISSN: 0278-0046. 68 (1). s 721 - 723. doi:10.1109/TIE.2020.3023847.
  • Pasolli, Philipp Thomas; Ruderman, Michael (2020). Hybrid Position/Force Control for Hydraulic Actuators. Proceeding IEEE 28th Mediterranean Conference on Control and Automation (MED'2020). ISBN: 978-1-5386-7890-9. IEEE conference proceedings. paper. s 73 - 78.
  • Ruderman, Michael (2020). Lead-Lag-Shaped Interactive Force Estimation by Equivalent Output Injection of Sliding-Mode. Proceeding of European Control Conference (ECC 2020). ISBN: 978-3-907144-01-5. IEEE conference proceedings. paper. s 1619 - 1623.
  • Tavares, Rafael Pinto; Ruderman, Michael; Menjoie, Daan; Molina, Joan Vazquez; Dhaens, Miguel (2020). Modeling and field-experiments identification of vertical dynamics of vehicle with active anti-roll bar. Proceeding of IEEE International Workshop on Advanced Motion Control (AMC2020). ISBN: 978-1-7281-3189-4. IEEE conference proceedings. regular paper. s 161 - 167.
  • Ruderman, Michael (2020). On stability of linear dynamic systems with hysteresis feedback. Mathematical Modelling of Natural Phenomena. ISSN: 0973-5348. 15 (52). doi:10.1051/mmnp/2020014.
  • Ruderman, Michael; Yamada, Shota; Fujimoto, Hiroshi (2019). Backlash Identification in Two-Mass Systems by Delayed Relay Feedback. Journal of Dynamic Systems Measurement, and Control. ISSN: 0022-0434. 141 (6). doi:10.1115/1.4042672.
  • Seki, Kenta; Hirata, Jun-ya; Ruderman, Michael; Iwasaki, Makoto (2019). Creep Modeling with Time-dependent Damping Parameters in Piezoelectric Actuators. IEEE 2019 International Conference on Mechatronics. ISBN: 978-1-5386-6959-4. IEEE conference proceedings. paper. s 135 - 140.
  • Pasolli, Philipp Thomas; Ruderman, Michael (2019). Design, Control, and Analysis of Nonlinear Circuits with Tunnel Diode with Piecewise Affine Dynamics. IEEJ Journal of Industry Applications. ISSN: 2187-1094. 8 (2). s 240 - 249. doi:10.1541/ieejjia.8.240.
  • Ano, Shuta; Seki, Kenta; Ruderman, Michael; Iwasaki, Makoto (2019). Estimation of Sway-angle Based on Hybrid State Observer Using Continuous and Discrete Sensing. Proceeding 45th Annual Conference of the IEEE Industrial Electronics Society - IECON 2019. ISBN: 978-1-7281-4878-6. IEEE conference proceedings. paper. s 3123 - 3128.
  • Pasolli, Philipp Thomas; Ruderman, Michael (2019). Hybrid State Feedback Position-Force Control of Hydraulic Cylinder. IEEE 2019 International Conference on Mechatronics. ISBN: 978-1-5386-6959-4. IEEE conference proceedings. paper. s 54 - 59.
  • Ruderman, Michael; Fridman, Leonid (2019). Model-free sliding-mode-based detection and estimation of backlash in drives with single encoder. IEEE Transactions on Control Systems Technology. ISSN: 1063-6536. 29 (2). s 812 - 817. doi:10.1109/TCST.2019.2956914.
  • Tavares, Rafael Pinto; Molina, Joan Vazquez; Al Sakka, Monzer; Dhaens, Miguel; Ruderman, Michael (2019). Modeling of an active torsion bar automotive suspension for ride comfort and energy analysis in standard road profiles. Proceeding of 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems. IFAC Papers Online. paper. s 181 - 186.
  • Tavares, Rafael Pinto; Ruderman, Michael (2019). On Energy Harvesting Using Piezoelectric Transducer with Two-Port Model under Force Excitation. IEEE 2019 International Conference on Mechatronics. ISBN: 978-1-5386-6959-4. IEEE conference proceedings. paper. s 414 - 419.
  • Ruderman, Michael (2019). On Stability of Virtual Torsion Sensor for Control of Flexible Robotic Joints with Hysteresis. Robotica (Cambridge. Print). ISSN: 0263-5747. doi:10.1017/S0263574719001358.
  • Ruderman, Michael (2019). On Switching between Motion and Force Control. IEEE 27th Mediterranean Conference on Control and Automation (MED'19). ISBN: 978-1-5386-7890-9. IEEE conference proceedings. paper. s 445 - 450.
  • Ruderman, Michael (2019). Relay feedback systems - established approaches and new perspectives for application. IEEJ Journal of Industry Applications. ISSN: 2187-1094. 8 (2). s 271 - 278. doi:10.1541/ieejjia.8.271.
  • Ruderman, Michael; Fridman, Leonid; Pasolli, Philipp Thomas (2019). Virtual Sensing of Load Forces in Hydraulic Actuators using Second- and Higher-Order Sliding Modes. Control Engineering Practice. ISSN: 0967-0661. 92s 104151. doi:10.1016/j.conengprac.2019.104151.
  • Pasolli, Philipp Thomas; Ruderman, Michael (2018). Design and Analysis of non-linear Circuit with Tunnel Diode for Hybrid Control Systems. Proceeding of IEEE 15th International Workshop on Advanced Motion Control (AMC2018). ISBN: 978-1-5386-1946-9. IEEE conference proceedings. conference paper. s 181 - 186.
  • Ruderman, Michael; Rachinskii, Dmitrii (2018). Discrete-time adaptive hysteresis filter for parallel computing and recursive identification of Preisach model. 2nd IEEE Conference on Control Technology and Applications. ISBN: 9781538676974. IEEE conference proceedings. Paper. s 1096 - 1101.
  • Karimi, Wais; Ruderman, Michael; Seki, Kenta; Iwasaki, Makoto (2018). Experimental framework of traveling trolley with swinging load for hybrid motion control. Proceeding of IEEE 15th International Workshop on Advanced Motion Control (AMC2018). ISBN: 978-1-5386-1946-9. IEEE conference proceedings. chapter. s 60 - 65.
  • Pasolli, Philipp Thomas; Ruderman, Michael (2018). Linearized Piecewise Affine in Control and States Hydraulic System: Modeling and Identification. 44th Annual Conference of the IEEE Industrial Electronics Society (IECON2018). ISBN: 978-1-5090-6684-1. IEEE conference proceedings. paper. s 4537 - 4544.
  • Ruderman, Michael (2018). Minimal-model for robust control design of large-scale hydraulic machines. Proceeding of IEEE 15th International Workshop on Advanced Motion Control (AMC2018). ISBN: 978-1-5386-1946-9. IEEE conference proceedings. conference paper. s 397 - 401.
  • Yamada, Shota; Ruderman, Michael; Fujimoto, Hiroshi (2018). Piecewise Affine (PWA) Modeling and Switched Damping Control of Two-Inertia Systems with Backlash. Proceeding of IEEE 15th International Workshop on Advanced Motion Control (AMC2018). ISBN: 978-1-5386-1946-9. IEEE conference proceedings. conference paper. s 479 - 484.
  • Ruderman, Michael; Fridman, Leonid (2018). Use of second-order sliding mode observer for low-accuracy sensing in hydraulic machines. IEEE 15th International Workshop on Variable Structure Systems and Sliding Mode Control (VSS18). ISBN: 978-1-4673-9788-9. IEEE conference proceedings. Paper. s 315 - 318.
  • Ruderman, Michael (2017). Full- and Reduced-order Model of Hydraulic Cylinder for Motion Control. 43rd Annual Conference of the IEEE Industrial Electronics Society (IECON2017). ISBN: 978-1-5090-3474-1. IEEE. paper. s 7275 - 7280.
  • Rudolfsen, Morten H.; Aune, Teodor N.; Auklend, Oddgeir; Aarland, Leif Tore; Ruderman, Michael (2017). Identification and Control Design for Path Tracking of Hydraulic Loader Crane. Proceedings: IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2017). ISBN: 9781509020669. IEEE. paper. s 565 - 570.
  • Ruderman, Michael (2017). Impulse-Based Hybrid Motion Control. 43rd Annual Conference of the IEEE Industrial Electronics Society (IECON2017). ISBN: 978-1-5090-3474-1. IEEE. paper. s 4049 - 4054.
  • Ivanov, Valentin; Augsburg, Klaus; Ruderman, Michael; Schiffer, Johannes; Horn, Martin (2017). Interdisciplinary Design Methodology for Systems of Mechatronic Systems: Focus on Highly Dynamic Environmental Applications. 43rd Annual Conference of the IEEE Industrial Electronics Society (IECON2017). ISBN: 978-1-5090-3474-1. IEEE. paper. s 4062 - 4067.
  • Ruderman, Michael (2017). On break-away forces in actuated motion systems with nonlinear friction. Mechatronics (Oxford). ISSN: 0957-4158. 44s 1 - 5. doi:10.1016/j.mechatronics.2017.03.007.
  • Ruderman, Michael; Rachinskii, Dmitrii (2017). Use of Prandtl-Ishlinskii hysteresis operators for Coulomb friction modeling with presliding. Journal of Physics: Conference Series (JPCS). ISSN: 1742-6588. 811 (1). doi:10.1088/1742-6596/811/1/012013.
  • Ruderman, Michael; Iwasaki, Makoto (2016). Analysis of Linear Feedback Position Control in Presence of Presliding Friction. IEEJ Journal of Industry Applications. ISSN: 2187-1094. 5 (2). s 61 - 68. doi:10.1541/ieejjia.5.61.
  • Ruderman, Michael (2016). Compensation of Nonlinear Torsion in Flexible Joint Robots: Comparison of Two Approaches. IEEE transactions on industrial electronics (1982. Print). ISSN: 0278-0046. 63 (9). s 5744 - 5751. doi:10.1109/TIE.2016.2574299.
  • Rachinskii, Dmitrii; Ruderman, Michael (2016). Convergence of direct recursive algorithm for identification of preisach hysteresis model with stochastic input. SIAM Journal on Applied Mathematics. ISSN: 0036-1399. 76 (4). s 1270 - 1295. doi:10.1137/140986633.
  • Ruderman, Michael (2016). Integral Control Action in Precise Positioning Systems with Friction. 12th IFAC International Workshop on Adaptation and Learning in Control and Signal Processing. ISBN: 978-3-902823-37-3. IFAC Papers Online. Volume 49, Issue 13. s 82 - 86.
  • Ruderman, Michael (2016). On Stability and Robustness of Virtual Torsion Sensor (VTS) for Flexible Joint Robots. 42nd Annual Conference of the IEEE Industrial Electronics Society (IECON2016). ISBN: 978-1-5090-3474-1. IEEE conference proceedings. Special Session Paper. s 6894 - 6898.
  • Ruderman, Michael; Iwasaki, Makoto (2016). On damping characteristics of frictional hysteresis in pre-sliding range. Journal of Physics: Conference Series (JPCS). ISSN: 1742-6588. 727 (1). doi:10.1088/1742-6596/727/1/012014.
  • Ruderman, Michael (2015). State-space formulation of scalar Preisach hysteresis model for rapid computation in time domain. Applied Mathematical Modelling. ISSN: 0307-904X. 40 (4). s 3451 - 3458. doi:10.1016/j.apm.2015.09.065.
  • Ruderman, Michael (2015). Asymptotic observer of the link states of flexible joint robots with motor-side sensing. Proceedings IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. ISBN: 978-1-4799-1761-7. IEEE conference proceedings. Kapittel. s 004065 - 004069.
  • Ruderman, Michael (2015). Computationally efficient formulation of relay operator for Preisach hysteresis modeling. IEEE transactions on magnetics. ISSN: 0018-9464. 51 (12). s 1 - 4. doi:10.1109/TMAG.2015.2455517.
  • Ruderman, Michael; Iwasaki, Makoto (2015). Observer of Nonlinear Friction Dynamics for Motion Control. IEEE transactions on industrial electronics (1982. Print). ISSN: 0278-0046. 62 (9). s 5941 - 5950. doi:10.1109/TIE.2015.2435002.
  • Ruderman, Michael (2015). Presliding hysteresis damping of LuGre and Maxwell-slip friction models. Mechatronics (Oxford). ISSN: 0957-4158. 30s 225 - 230. doi:10.1016/j.mechatronics.2015.07.007.
  • Ruderman, Michael; Iwasaki, Makoto (2015). Sensorless Torsion Control of Elastic Joint Robots with Hysteresis and Friction. IEEE transactions on industrial electronics (1982. Print). ISSN: 0278-0046. 63 (3). s 1889 - 1899. doi:10.1109/TIE.2015.2453415.
  • Ruderman, Michael; Biral, Francesco; Seki, Kenta; Shimono, Tomoyuki (2015). Smart and Precision Motion Control Technologies (Tutorial). Proceedings IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. ISBN: 978-1-4799-1761-7. IEEE conference proceedings. kapitel.
  • Ruderman, Michael; Bertram, Torsten (2015). Structural hysteresis model of transmitting mechanical systems. Journal of Physics: Conference Series (JPCS). ISSN: 1742-6588. 585doi:10.1088/1742-6596/585/1/012009.
  • Ruderman, Michael (2014). Impulse-based Discrete Feedback Control of Motion with Damping Uncertainties. IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society. ISBN: 978-1-4799-4033-2. IEEE conference proceedings. paper. s 2780 - 2785.
  • Ruderman, Michael; Tsuji, Toshiaki (2021). 2021 IEEE International Conference on Mechatronics (ICM). ISBN: 978-1-7281-4443-6. IEEE conference proceedings. s 650.
  • Tsuji, Toshiaki; Ruderman, Michael; Fujimoto, Hiroshi; Ivanov, Valentin (2021). Proceeding of IEEE International Conference on Mechatronics (ICM2021). ISBN: 978-1-5386-6959-4. IEEE conference proceedings.
  • Ruderman, Michael; Pavlov, Alexey; Iwasaki, Makoto (2020). Proceeding of IEEE International Workshop on Advanced Motion Control (AMC2020). ISBN: 978-1-7281-3189-4. IEEE conference proceedings.
  • Ruderman, Michael (2019). IEEE 2019 International Conference on Mechatronics. ISBN: 978-1-5386-6959-4. IEEE conference proceedings.
  • Fujimoto, Yasutaka; Ruderman, Michael; Uchimura, Yutaka; Ohishi, Kiyoshi (2018). Proceeding of IEEE 15th International Workshop on Advanced Motion Control (AMC2018). ISBN: 978-1-5386-1946-9. IEEE conference proceedings. s 682.
  • Ruderman, Michael (2021). Modeling and control of kinetic friction for robotics.

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Last changed: 22.05.2022 13:05