# Philippe Müllhaupt

#### Lecturer

philippe.muellhaupt@epfl.ch +41 21 693 38 38 http://lawww.epfl.ch

Citizenship : Swiss & Irish

## Biography

Philippe Mullhaupt received his Diplôme d'Ingénieur in Electrical Engineering from the Ecole Polytechnique Fédérale de Lausanne, Switzerland in 1993 and a Diplôme Etudes Approfondies in the field of Signal Processing and Control Theory from the University of Paris XI, Orsay, France in 1994. He then received the doctoral degree from the EPFL in 1999, in the field of Nonlinear Control with application to Underactuated Mechanical Systems. He then joined the European Nonlinear Control Network as a post-doctoral fellow at the Centre Automatique et Systèmes of the Ecole Nationale Supérieure des Mines de Paris in Fontainebleau, France. His theoretical research interests lie in the field of geometric and algebraic methods for nonlinear control systems. He is also a lecturer for classical mechanics, nonlinear control, linear control and multivariable state space methods.

## Professional course

Post-Doc | Centre Automatique et Syst�mes | ENSMP-Paris (Fontainebleau) | 1999-2000 |

Researcher and Lecturer | LA | EPFL | 2000 - 2014 |

Scientist | Space Center | EPFL | 2014 - 2016 |

Scientist | BIOROB | EPFL | 2014 - 2017 |

Scientist | LBO | EPFL | 2014 - 2018 |

Researcher and Lecturer | IGM | EPFL | 2014 - (now) |

Inventory management and follow-ups | STI-DO | 2017 - (now) |

## Fields of expertise

Classical Dynamics

Robotics

## Publications

### Infoscience

#### Publications

**On two isomorphic Lie algebroids for Feedback Linearization**. 2019-01-24.

**Imprecise dynamic walking with time-projection control**;

*arxiv*. 2018-11-12.

**Guidance, Navigation and Control for Autonomous Rendezvous and Docking of Nano-Satellites**. Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8729.

**A Closed-Loop EMG-Assisted Shoulder Model**. Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8658.

**Time-projection control to recover inter-sample disturbances, application to bipedal walking control**;

*Arxiv*. 2018.

**A simulation framework for humeral head translations**;

*Medical Engineering and Physics*. 2017. DOI : 10.1016/j.medengphy.2017.08.013.

**Room Modal Equalisation with Electroacoustic Absorbers**. Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-7166.

**A framework for forward-dynamics simulation of the human shoulder**. 2016. 11th Conference of the International Shoulder Group, ISG 2016, Winterthur, Switzerland, 14-16 July 2016.

**Modelling of the human shoulder as a parallel mechanism without constraints**;

*Mechanism and Machine Theory*. 2016. DOI : 10.1016/j.mechmachtheory.2016.02.004.

**Effect of partial-thickness tear on loading capacities of the supraspinatus tendon: a finite element analysis**;

*Computer Methods in Biomechanics and Biomedical Engineering*. 2015. DOI : 10.1080/10255842.2015.1075012.

**Effect of Patient Specific Parameters on Degenerative Shoulder Diseases**. Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6588.

**Modeling and Compensating Friction in Power Steering**. 2015. European Control Conference 2015, Linz, Austria, July 15-17.

**Active Stability of Glenohumeral Joint Diminishes during the End-range Motions**. 2015. 21st Congress of the European Society of Biomechanics ESB 2015, Prague, Czech Republic, 5-8 July 2015.

**Application of Artificial Neural Networks in Assessing the Equilibrium Depth of Local Scour Around Bridge Piers**. 2015. ASME 2015 34th International Conference on Ocean, Offshore & Arctic Engineering OMAE2015, St. John’s, Newfoundland, Canada, May 31-June 5. p. V007T06A061. DOI : 10.1115/OMAE2015-42387.

**A Cable-Driven Pendulum for Analysing the Stability of Joint Stiffness Control**;

*Journal of Biological Cybernetics*. 2015.

**Musculoskeletal Model of the Human Shoulder for Joint Force Estimation**. Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6497.

**Muscle Moment-Arms: A Key Element in Muscle-Force Estimation**;

*Computer Methods in Biomechanics and Biomedical Engineering*. 2015. DOI : 10.1080/10255842.2013.818666.

**A Friction Compensation Control for Power Steering**;

*IEEE Transactions on Control Systems Technology*. 2015. DOI : 10.1109/Tcst.2015.2483561.

**Review of "Critical configurations of planar robot arms" by Khimshiashvili Giorgi, Panina Gaiane, Siersma Dirk and Zhukova Alena, in Cent. Eur. J. Math. 11, no. 3, 519-529, 2013**;

*Mathematical reviews + database fee*. 2014.

**Review of "Stability analysis and design of nonlinear singular systems" by Yang, Chun Yu, Zhang Qing Ling, Zhou Linna, Springer, Heidelberg, LCNCIS 435, 2013**;

*Mathematical reviews + database fee*. 2014.

**Review of "Neutral wrenches of 3-parametric robot-manipulators of spherical rank 1" by Marksova, Marta, Appl. Math. 56, n0. 4, 405-416, 2011**;

*Mathematical reviews + database fee*. 2014.

**Nonlinear Analysis of a Coaxial Microhelicopter with a Bell Stabilizer Bar**;

*Journal of the American Helicopter Society*. 2014. DOI : 10.4050/JAHS.59.012003.

**Finite Dimensional Methods for Differential Flatness**. Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5749.

**A Quotient Method for Designing Nonlinear Controllers**;

*European Journal of Control*. 2013. DOI : 10.1016/j.ejcon.2012.10.001.

**Quotient-method Algorithms for Input-affine Single-input Nonlinear Systems**. Lausanne, EPFL, 2012. DOI : 10.5075/epfl-thesis-5467.

**Review of "A characterization of one-element p-bases of rings of constants", by Jedrzejewicz, P., Bull. Pol. Acad. Sci. Math. 59 (2011), no. 1, 19–26.1732-8985**;

*Mathematical reviews + database fee*. 2012.

**Review of "Flexible Multibody Dynamics", by Bauchau, O. A., Springer, 2011.**;

*Mathematical reviews + database fee*. 2012.

**Bilinear Control Systems with Forced Integrable Filtration**. 2012. Int. Conf. on Numerical Analysis and Applied Mathematics (ICNAAM), Kos, Greece, September 19-25, 2012. p. 1450-1453. DOI : 10.1063/1.4756434.

**Numerical algorithm for feedback linearizable systems**. 2012. 10th Int. Conference of Numerical Analysis and Applied Mathematics, Kos, Greece, September 2012. p. 1458-1461. DOI : 10.1063/1.4756436.

**Avoiding Feedback-Linearization Singularity Using a Quotient Method -- The Field-Controlled DC Motor Case**. 2012. American Control Conference, Montreal, Canada, June 27-29, 2012.

**Quotient method for stabilising a ball-on-a-wheel system – Experimental results**. 2012. IEEE CDC 2012, Hawaii, December 2012.

**Application of Legendrian Foliations in Differential Flatness Problems**. 2012. IEEE CDC 2012, Hawaii.

**Review of "A multiple time-scale solution for non-linear vibration of mass grounded system", by A. Shooshtari and A.A. Pasha Zanoosi, Appl. Math. Model., 34, 2010, no. 7, 1918-1929.**;

*Mathematical reviews + database fee*. 2012.

**Review of "The shape of some linear transformations", by Hou, Bo and Gao, Suogang, Linear Algebra Appl., 433, 2010, n0 11-12, 2088-2095**;

*Mathematical reviews + database fee*. 2012.

**Review of "Some nonlinear boundary value problems describing conflict control with continuous feedback and nonconvex target set", by S.A. Brykalov and Y.A. Latushkin, Nonlinear Analysis, 71, 2009, no 12, pp. 1116-1123**;

*Mathematical reviews + database fee*. 2012.

**Minimal State Representation for Open Fluid-Fluid Reaction Systems**. 2012. 2012 American Control Conference (ACC), Montreal, Canada, June 27 - 29, 2012. p. 3496-3502.

**Asymptotic Rejection of Nonvanishing Disturbances Despite Plant-Model Mismatch**;

*Int. Journal of Adaptive Control and Signal Processing*. 2012. DOI : 10.1002/acs.2292.

**A quotient method for designing nonlinear controllers**. 2011. 50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC), Orlando, FL, Dec 12-15, 2011. p. 7980-7987.

**Review of "Condition number related to the outer inverse of a complex matrix", by D. Mosic and D. Djordjevic, Appl. Math. Comput. 215, 2009, no.8, pp 2826-2834**;

*Mathematical reviews + database fee*. 2011.

**Review of "The complex solution to a quaternion matrix equation with applications", Ding, Yu-Han; Wang, Qing-Wen, Math. Sci. Res. J. 12, no. 9, pp. 215-224, 2008**;

*Mathematical reviews + database fee*. 2011.

**Review of "On functions whose graph is a Hamel basis. II", Krzysztof Plotka, Canad. Math. Bull. 52, No. 2, pp 295-302, 2009.**;

*Mathematical reviews + database fee*. 2011.

**Review of "Modeling, performance analysis and control of robot manipulators" Edited by Etienne Dombre and Wisama Khalil**;

*Mathematical reviews + database fee*. 2011.

**Feedback Linearizability and Flatness in Restricted Control Systems**. 2011. 18th IFAC World Congress, Milano, Italy, August 28, 2011.

**Stabilization of the cart-pendulum system through approximate manifold decomposition**. 2011. IFAC, Milano, Italy 2011, August 28th to September 2nd 2011.

**Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots**. 2010. 2010 IEEE International Conference on Control Applications Part of 2010 IEEE Multi-Conference on Systems and Control, Yokohama, Japan,, September 8-10, 2010. p. 1307-1312. DOI : 10.1109/CCA.2010.5611216.

**Iterative Learning Control Using Stochastic Approximation Theory with Application to a Mechatronic System**;

*Advances in the Theory of Control, Signals and Systems with Physical Modeling*; London: Springer, 2010. p. 49-64.

**Review of "Rigid body dynamics in terms of quaternions: Hamiltonian formulation and conserving numerical integration" Betsch, P. and Siebert, R., International J. Numer. Methods, Engrg. 79, no. 4, pp. 444-473, 2009**;

*Mathematical reviews + database fee*. 2010.

**Review of "On symplectic polar spaces over non-perfect fields of characteristic 2", De Bruyn, B. and Pasini, A., Linear Multilinear Algebra 57, no. 6, pp. 567-575, 2009**;

*Mathematical reviews + database fee*. 2010.

**Advances in the Theory of Control, Signals and Systems with Physical Modeling**; New York, Heidelberg, Berlin: Springer Verlag.

**A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization**;

*Medical Engineering and Physics*. 2010. DOI : 10.1016/j.medengphy.2010.07.006.

**Review of "Some remarks on Eisenstein's criterion", Woo, Sung Sik, Commun. Korean Math. Soc. 23 (2008), no.4, 499-509**;

*Mathematical reviews + database fee*. 2010.

**Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots**. 2010. IEEE Multi-Conference on Systems and Control, Yokohama, Japan, September 8-10, 2010.

**Quotient method for controlling the acrobot**. 2009. CDC 2009, Shanghai, December 2009.

**Review of "The inversion formulae for automorphisms of polynomial algebras and rings of differential operators in prime characteristic", by Bavula, V. V., J. Pure Appl. Algebra, 212, 2008, no. 10, pp 2320-2337**;

*Mathematical reviews + database fee*. 2009.

**Review of "Generalized Differential Galois Theory." P. Landesmann, Trans. Amer. Math. Soc. 360 (2008) no. 8, pp 4441-4495.**;

*Mathematical reviews + database fee*. 2009.

**Review of "Sheafhom: software for sparse integer matrices", M. McConnell, Pure Appl. Math. Q. 3 (2007), no. 1, part 3, 307-322.**;

*Mathematical reviews + database fee*. 2009.

**Review of "Singurlarly perturbed piecewise deterministic games", A. Haurie and F. Moresino, SIAM J. Control Optim, 47 (2008), no. 1, 73-91.**;

*Mathematical reviews + database fee*. 2009.

**Review of "On the number of generators of the module of derivations and multiplicity of certain rings", Gurjar, R.V. and Vagh, V., J. Algebra 319 (2008), no. 5, 2030-2049**;

*Mathematical reviews + database fee*. 2009.

**End-to-end adaptation scheme for ubiquitous remote experimentation**;

*Personal and Ubiquitous Computing*. 2009. DOI : 10.1007/s00779-007-0184-x.

**Dynamics and Control of 2D SpiderCrane: A Lie-Bäcklund Approach**. 2009. European Control Conference, Budapest, August 2009.

**Overactuated systems coordination**. Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4299.

**Introduction à l'Analyse et la Commande Non Linéaire**; Lausanne: PPUR.

**Velocity-Scheduling Control for a Unicycle Mobile Robot: Theory and Experiments**;

*IEEE Transactions on Robotics and Automation*. 2009. DOI : 10.1109/TRO.2009.2014494.

**Dynamical biomechanical model of the shoulder: null space based optimization of the overactuated system**. 2008. 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, December 14-17, 2008.

**Review of "On the determination of the basin of attraction for stationary and periodic movements"**;

*Mathematical reviews + database fee*. 2008.

**Review of "Standard bases for local rings of branches and their module of differentials"**;

*Mathematical reviews + database fee*. 2008.

**Review of "The Holditch sickles for the open homothetic motions"**;

*Mathematical reviews + database fee*. 2008.

**Review of "Holditch-type theorems under the closed planar homothetic motions"**;

*Mathematical reviews + database fee*. 2008.

**Dedicated controller design for a dual-stage opto-mechatronic system**. 2008. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xian, China, 2-5 July 2008.

**Review of "Quantum field theory and the Jones polynomial."**;

*Mathematical reviews + database fee*. 2008.

**Review of "Geometrical derivation of Lagrange's equations for a system of rigid bodies."**;

*Mathematical reviews + database fee*. 2008.

**Jet-scheduling control for flat systems**. Lausanne, EPFL, 2008. DOI : 10.5075/epfl-thesis-3996.

**Stabilization of a 2D-SpiderCrane Mechanism Using Damping Assignment Passivity-based Control**. 2008. IFAC World Congress, Seoul, July 2008.

**Jet-Scheduling Control for SpiderCrane: Experimental Results**. 2008. IFAC World Congress, Seoul, July 2008.

**On Achieving Periodic Joint-Motion for Redundant Robots**. 2008. IFAC World Congress, Seoul, 6-11 July, 2008.

**Real-time compensation of hysteresis in piezoelectric-stack actuator tracking a stochastic reference**. 2008. American Control Conference, Seattle, June 2008.

**Control of the Toycopter using a Flat Approximation**;

*IEEE Transactions on Control Systems Technology*. 2008. DOI : 10.1109/TCST.2007.916333.

**Fast Step-response Evaluation of Linear Continuous-time Systems with Time Delay in the Feedback Loop**. 2007. IFAC World Congress Seoul, Seoul, june 2008.

**Review of "Trajectory tracking of leader-follower formations characterized by constant line-of-sight angles"**;

*Mathematical reviews + database fee*. 2007.

**Review of "Control of chaos and its relevancy to spacecraft steering" by E. E. N. Macau and C. Grebogi in Phil. Trans. R. Soc. A, vol. 364, p. 2463-2481**;

*Mathematical reviews + database fee*. 2007.

**Review of "On Lagrange multipliers in flexible multibody dyanmics" by B. Simeon, Comput. Meth. Appl. Mech. Eng., vol. 195, p. 6993-7005**;

*Mathematical reviews + database fee*. 2007.

**Review of "Rational constants of monomial derivations" by A. Nowicki and J. Zielinski, J. Algebra 302 (2006),no. 1, 387-418**;

*Mathematical reviews + database fee*. 2007.

**Review of "The dynamics of legged locomotion: models, analysis, and challenges" by Ph. Holmes, R. J. Full, D. Koditschek, and J. Guckenheimer, SIAM Rev. 48 (2006), no. 2, 207-304**;

*Mathematical reviews + database fee*. 2007.

**Trajectory Tracking through Overactuation for an Optical Delay Line**;

*IEEE/ASME Transactions on Mechatronics*. 2007.

**Design and control of quadrotors with application to autonomous flying**. Lausanne, EPFL, 2007. DOI : 10.5075/epfl-thesis-3727.

**A Two-Time-Scale Control Scheme for Fast Systems**;

*Springer Lecture Notes in Control and Information Sciences Series (LNCIS)*. 2007.

**A Numerical Sufficiency Test for the Asymptotic Stability of Linear Time-Varying Systems**;

*Automatica*. 2007. DOI : 10.1016/j.automatica.2006.10.014.

**Attraction Region of Planar Linear Systems with One Unstable Pole and Saturated Feedback**;

*Journal of Dynamical and Control Systems*. 2006. DOI : 10.1007/s10450-006-0003-0.

**HIV and solid organ transplantation: the Swiss experience**;

*Swiss medical weekly*. 2006.

**Dynamics of torque control continuously variable transmissions**. Lausanne, EPFL, 2006. DOI : 10.5075/epfl-thesis-3646.

**Velocity Scheduling Controller for a Nonholonomic Mobile Robot**. 2006. Chinese Control Conference, Harbin, August 2006.

**Strategy for the Control of a Dual-stage Nano-positioning System with a Single Metrology**. 2006. 2006 IEEE International Conference on Robotics, Automation & Mechatronics (RAM), Bangkok, Thailand, June 7-9, 2006.

**Quotient Submanifolds for Static Feedback Linearization**;

*Systems & Control Letters*. 2006. DOI : 10.1016/j.sysconle.2005.12.002.

**Region of Attraction of Planar Linear Systems with One Unstable Pole and Saturated Feedback**;

*Journal of Dynamical and Control Systems*. 2006.

**Experimental Results for a Nonholonomic Mobile Robot Controller Enforcing Linear Equivalence Asymptotically**. 2006. IEEE Conference on Industrial Electronics and Applications, Singapore, May 2006.

**Improving tokamak vertical position control in the presence of power supply voltage saturation**;

*Plasma Physics and Controlled Fusion*. 2005. DOI : 10.1088/0741-3335/47/10/008.

**Real-Time Interaction over the Internet: Model for QOS Adaptation**. 2005. 16th IFAC World Congress, Prague, July 3-8, 2005. p. CR-ROM files 04517.pdf.

**A Two-Time-Scale Control Scheme for Fast Systems**. 2005. Int. Workshop on Nonlinear Model Predictive Control, Freudenstadt-Lauterbad.

**Interactive 3D Simulation of Flat Systems: The SpiderCrane as a Case Study**. 2005. CDC/ECC, Seville.

**Introduction à l'analyse et la commande des systèmes non linéaires**; --.