# Ali Pakniyat

### Postdoctoral Research Fellow

email: (last name) {at} umich.edu

### Related Links

Curriculum Vitae

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My old webpage: cim.mcgill.ca/~pakniyat

**Brief Intro**

I am a postdoctoral research fellow in the Department of Mechanical Engineering at the University of Michigan, a member of Robotics and Optimization for the Analysis of Human Motion (ROAHM) Lab, and a former member of the Centre for Intelligent Machines (CIM), and Groupe d'Études et de Recherche en Analyse des Décisions (GERAD).

I received the B.Sc. degree in Mechanical Engineering from Shiraz University in 2008, the M.Sc. degree in Mechanical Engineering - Applied Mechanics and Design from Sharif University of Technology in 2010, and the Ph.D. degree in Electrical Engineering from McGill University in 2016, under the supervision of Peter E. Caines. After holding a Lecturer position at the Electrical and Computer Engineering department of McGill University for around a year, I joined the department of Mechanical Engineering at the University of Michigan in July 2017, where I am now collaborating with Ram Vasudevan.

**Research**

My research focuses on the theoretical developments and implementation aspects of **optimal control** for **hybrid systems**, i.e. dynamical systems that involve interactions of **continuous** dynamics, **discrete** dynamics and **stochastic** diffusions. My contributions include the discovery of fundamental theoretical results, the development of novel control algorithms and their implementation and experimental validation carried out with the help of coworkers from industries and universities. I deal with a wide range of systems in the **automotive** field, **mathematical** finance and in **robotics**.

**Teaching**

## Course Instructor:

**McGill University**** | **Department of Electrical and Computer Engineering

**ECSE 205: Probability and Statistics for Engineers**: Fall 2016, Winter 2017**ECSE 493: ****Control and Robotics Laboratory**: Winter 2016, 2017

## Teaching Assistant:

**McGill University**** | **Department of Electrical and Computer Engineering

**ECSE 516: Nonlinear and Hybrid Control Systems**: Winter 2013, 2017**ECSE 506: Stochastic Control and Decision Theory**: Winter 2014**ECSE 404: Control Systems**: Fall 2013, 2014, 2015, 2016**ECSE 500: ****Mathematical Foundations of System**: Fall 2013, 2015**ECSE 493: ****Control and Robotics Laboratory**: Winter 2014, 2015**ECSE 443: ****Introduction to Numerical Methods in Electrical Engineering**: Winter 2014, 2015

**Sharif University of Technology**** | **School of Mechanical Engineering

**MECH ****28586****: ****Robust Control**: Fall 2010**MECH ****28416****: ****Automatic Control**: Spring 2010, Fall 2010

**Shiraz University | **Mechanical Engineering Department

**MECH ****100531241****: ****Mechanical Vibrations**: Spring 2008**MECH ****100531221****: ****Dynamics of Machinery**: Spring 2008**MECH ****100531171****: ****Machine Design II**: Fall 2007**MECH ****100531161****: ****Machine Design I**: Spring 2007**MECH ****100531071****: ****Dynamics**: Fall 2006

**Publications**

### Patents

[P1] B. Boulet, M. S. R. Mousavi, H. V. Alizadeh, and **A. Pakniyat** "Seamless Transmission Systems and Methods for Electric Vehicles", US9702438 B2 (External Link).

### Published Journal Papers

[J5] **A. Pakniyat**, P. E. Caines, "On the Relation between the Minimum Principle and Dynamic Programming for Classical and Hybrid Systems", IEEE Transactions on Automatic Control, vol. 62, no. 9, pp. 4347–4362, 2017 (PDF, IEEE.org).

[J4] **A. Pakniyat**, P. E. Caines, "Hybrid Optimal Control of an Electric Vehicle with a Dual-Planetary Transmission", Nonlinear Analysis: Hybrid Systems, vol. 25, pp. 263–282, 2017 (PDF, ScienceDirect.com).

[J3] M. S. R. Mousavi, **A. Pakniyat**, T. Wang, and B. Boulet, "Seamless Dual Brake Transmission For Electric Vehicles: Design, Control and Experiment", Mechanism and Machine Theory, Volume 94, 2015, pp. 96-118 (PDF, ScienceDirect.com).

[J2] **A. Pakniyat**, and H. Salarieh, "A Parametric Study on Design of a Microrate-Gyroscope with Parametric Resonance", Measurement, Volume 46, Issue 8, 2013, pp. 2661-2671 (PDF, ScienceDirect.com).

[J1] **A. Pakniyat**, H. Salarieh, and A. Alasty, "Stability Analysis of a New Class of MEMS Gyroscopes with Parametric Resonance", Acta Mechanica, Volume 223, Issue 6, 2012, pp. 1169-1185 (PDF, Springer.com).

### Peer-Reviewed Conference Papers

[C15] **A. Pakniyat**, P. E. Caines, "A Class of Linear Quadratic Gaussian Hybrid Optimal Control Problems with Realization–Independent Riccati Equations", Proceedings of the IFAC World Congress, Toulouse, France, 2017, pp. 2241–2246 (PDF, ScienceDirect.com).

[C14] D. Firoozi, **A. Pakniyat**, P. E. Caines, "A Mean Field Game - Hybrid Systems Approach to Optimal Execution Problems in Finance with Stopping Times", to appear in the Proceedings of the 56th IEEE Conference on Decision and Control, Melbourne, Australia, 2017.

[C13] **A. Pakniyat**, P. E. Caines, "On the Stochastic Minimum Principle for Hybrid Systems", Proceedings of the 55th IEEE Conference on Decision and Control, Las Vegas, NV, USA, 2016, pp. 1139–1144 (PDF, IEEE.org).

[C12] **A. Pakniyat**, and P. E. Caines, "On the Minimum Principle and Dynamic Programming for Hybrid Systems with Low Dimensional Switching Manifolds", Proceedings of the 54th IEEE Conference on Decision and Control, Osaka, Japan, 2015, pp. 2567-2573 (PDF, IEEE.org, Cahiers du GERAD).

[C11] **A. Pakniyat**, and P. E. Caines, "Time Optimal Hybrid Minimum Principle and the Gear Changing Problem for Electric Vehicles", Proceedings of the 5th IFAC Conference on Analysis and Design of Hybrid Systems, Atlanta, GA, USA, 2015, pp. 187-192 (PDF, ScienceDirect.com).

[C10] **A. Pakniyat**, and P. E. Caines, "On the Relation between the Hybrid Minimum Principle and Hybrid Dynamic Programming: a Linear Quadratic Example", Proceedings of the 5th IFAC Conference on Analysis and Design of Hybrid Systems, Atlanta, GA, USA, 2015, pp. 169-174 (PDF, ScienceDirect.com).

[C9] M. S. R. Mousavi, **A. Pakniyat**, M. K. Helwa, and B. Boulet, "Observer-Based Backstepping Controller Design for Gear Shift Control of a Seamless Clutchless Two-Speed Transmission for Electric Vehicles", Proceedings of the IEEE Vehicle Power and Propulsion Conference, Montreal, QC, Canada, 2015 (PDF, IEEE.org).

[C8] **A. Pakniyat**, and P. E. Caines, "On the Relation between the Minimum Principle and Dynamic Programming for Hybrid Systems", Proceedings of the 53rd IEEE Conference on Decision and Control, Los Angeles, CA, USA, 2014, pp. 19-24 (PDF, IEEE.org).

[C7] **A. Pakniyat**, and P. E. Caines, "On the Minimum Principle and Dynamic Programming for Hybrid Systems", Proceedings of the 19th IFAC World Congress 2014, Cape Town, South Africa, 2014, pp. 9629-9634 (PDF, IFAC-PapersOnLine.net).

[C6] **A. Pakniyat**, and P. E. Caines, "The Gear Selection Problem for Electric Vehicles: an Optimal Control Formulation", Proceedings of the 13th International Conference on Control, Automation, Robotics and Vision, Marina Bay Sands, Singapore, 2014, pp. 1261-1266 (PDF, IEEE.org).

[C5] M. S. R. Mousavi, **A. Pakniyat**, and B. Boulet, "Dynamic Modelling and Controller Design for a Seamless Two-Speed Transmission for Electric Vehicles", Proceedings of the 2014 IEEE Conference on Control Applications, Antibes, France, 2014, pp. 635-640 (PDF, IEEE.org).

[C4] **A. Pakniyat**, and P. E. Caines, "The Hybrid Minimum Principle in the Presence of Switching Costs", Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, 2013, pp. 3831-3836 (PDF, IEEE.org).

[C3] **A. Pakniyat**, H. Salarieh, G. Vossoughi, and A. Alasty, "A Modification on Performance of MEMS Gyroscopes by Parametro-Harmonic Excitation", Proceedings of the 10th ASME Biennial Conference on Engineering Systems Design and Analysis (Volume 5), Istanbul, Turkey, 2010, pp. 433-441 (ASME.org).

[C2] **A. Pakniyat**, H. Salarieh, and A. Alasty, "Stability Analysis of a Novel MEMS Gyroscope Actuated by Parametric Resonance Using Floquet Theory", Proceedings of the 3rd Conference on Nano-Structures, Kish Island, Iran, 2010, pp. 1219-1221 (CIVILICA).

[C1] **A. Pakniyat**, and M. Eghtesad, Solving Differential Equations using Wavelet Transform (in Persian), Proceedings of the 17th Annual International Conference on Mechanical Engineering, Tehran, Iran, 2009 (CIVILICA).