Below is a selection of my publications, organized by topic. Each topic includes a brief description, and publications are listed in the order: books or chapters π, journals π, and conferences/workshops π€, with chronological ordering within each category. New papers are indicated by π.
For a complete list in chronological order, please refer to my Google Scholar profile.
Topics that I work on:
Hybrid (switched) and nonlinear systems (continuous, discrete time)
Stability analysis (with time-scale separation) and observer design (asymptotic, interval)
Robust control (LMIs) and its applications (vehicles)
Telerobotics
We study the stability of nonlinear systems subject to both slow and fast time variations (hence two-time-scale). Both variations may exhibit discontinuities, encompassing switched systems as a special case. We are particularly interested in the case where the system's equilibrium moves with the variations, for which asymptotic convergence is not possible. Our main tools include averaging techniques and perturbation analysis.Β
π π€G. Q. B. Tran, D. Liberzon, H. Shim, "Resonance May Destabilize Slow-Fast Linear Dynamics," under review for American Control Conference (ACC), Philadelphia, PA, USA, Jul. 2027.
π π€G. Q. B. Tran, D. Liberzon, H. Shim, "Stability of Slow-Fast Nonlinear Dynamics: Moving Equilibrium Case," 65th IEEE Conference on Decision and Control (CDC), Honolulu, HI, USA, Dec. 2026. [arXiv]
π π€G. Q. B. Tran, D. Liberzon, H. Shim, "Stability of Slow-Fast Nonlinear Dynamics: Non-Periodic Case," 27th International Symposium on Mathematical Theory of Networks and Systems (MTNS), Waterloo, ON, Canada, Aug. 2026. [arXiv]
Hybrid systems, which combine continuous dynamics with discrete events, constitute a very general class of systems with significant practical relevance. Examples include walking robots, electrical circuits involving switching events, or friction. Observer design for hybrid systems is particularly challenging from a theoretical perspective. For instance, the jump times are generally unknown in advance, complicating the notions of observers and convergence. Moreover, observability can originate from different sources: the continuous evolution of the system, the jumps, or a combination of both.
πG. Q. B. Tran, "Observer Design for Hybrid Systems," Ph.D. dissertation, Nov. 2024. [HAL].
πG. Q. B. Tran, P. Bernard, L. Marconi, "Observer Design for Hybrid Systems with Linear Maps and Known Jump Times," pp. 115-159 in "Hybrid and Networked Dynamical Systems" (Springer), Editors: R. Postoyan, P. Frasca, E. Panteley, L. Zaccarian, Mar. 2024. [PDF, HAL]
π πG. Q. B. Tran, V. Alleaume, P. Bernard, F. Di Meglio, "Dealing with Indistinguishability in Gluing KKL Observer Design for Hybrid Systems with Unknown Jump Times," IEEE Transactions on Automatic Control, Apr. 2026. [PDF, HAL]
π πG. Q. B. Tran, P. Bernard, R. G. Sanfelice, "Observer Design for Hybrid Systems with Partially Affine Forms and Known Jump Times: Applications to Walking Robots," Automatica, Mar. 2026. [PDF, HAL (full version)]
π€G. Q. B. Tran, S. Garcia, P. Bernard, F. Di Meglio, R. G. Sanfelice, "Towards Gluing KKL Observer for Hybrid Systems with Unknown Jump Times," 63rd IEEE Conference on Decision and Control (CDC), Milan, Italy, Dec. 2024. [PDF, HAL (full version)]
π€G. Q. B. Tran, P. Bernard, F. Di Meglio, R. G. Sanfelice, "Observer Design for Hybrid Systems: Applications to Robotics and Hybrid Dynamics," 11th European Nonlinear Dynamics Conference (ENOC), Delft, Netherlands, Jul. 2024.
π€G. Q. B. Tran, P. Bernard, "Kalman-Like Observer for Hybrid Systems with Linear Maps and Known Jump Times," 62nd IEEE Conference on Decision and Control (CDC), Singapore, Dec. 2023. [PDF, HAL (full version)]
π€G. Q. B. Tran, P. Bernard, R. G. Sanfelice, "Coupling Flow and Jump Observers for Hybrid Systems with Known Jump Times," 22nd IFAC World Congress, Yokohama, Japan, Jul. 2023. [PDF, HAL (full version)]
π€G. Q. B. Tran, P. Bernard, F. Di Meglio, L. Marconi, "Observer Design based on Observability Decomposition for Hybrid Systems with Linear Maps and Known Jump Times," 61st IEEE Conference on Decision and Control (CDC), Cancun, Mexico, Dec. 2022. [PDF, HAL]
Nonlinear systems encompass a broad class of dynamical behaviors but complicate the design of globally stable and robust observers. In particular, nonlinearities prevent the direct application of standard linear observer techniques and make convergence guarantees difficult to establish over large regions of the state space. These works develop observer designs for both fully and partially nonlinear systems, with global stability and robustness guarantees in the presence of uncertainties. Applications include lithium-ion batteries and electrical machines.Β
π πW. Khennoune, T. N. Dinh, G. Q. B. Tran, J. Van Gorp, M. Moze, "Robust Nonlinear Estimation of State-of-Charge in Second-Order ThΓ©venin Battery Models," under review for International Journal of Robust and Nonlinear Control.
πG. Q. B. Tran, P. Bernard, "Arbitrarily Fast Robust KKL Observer for Nonlinear Time-Varying Discrete Systems," IEEE Transactions on Automatic Control, Oct. 2023. [PDF, HAL]
π€G. Q. B. Tran, P. Bernard, V. Andrieu, D. Astolfi, "Constructible Canonical Form and High-Gain Observer in Discrete Time," 63rd IEEE Conference on Decision and Control (CDC), Milan, Italy, Dec. 2024. [PDF, HAL (full version)]
Errata: In Item A1.2 of Assumption 1, remove all the time k from the points (not the functions). In Equation (21) of the full version, change \tilde{z}_0 to \hat{z}_0.
Interval observers provide element-wise lower and upper bounds on the state of a system rather than a single asymptotic estimate. More precisely, they construct two trajectories that enclose the actual state despite the presence of uncertainties, which is particularly useful when accurate pointwise state estimation cannot be ensured. Interval observers are applied to robust control, fault detection and isolation, safety monitoring, and verification.
β denotes equal contribution (co-first authors)
πβ T. N. Dinh, β G. Q. B. Tran, "Systematic Interval Observer Design for Linear Systems," Automatica, Jun. 2025. [PDF, arXiv]
πβ T. N. Dinh, β G. Q. B. Tran, "A Unified KKL-Based Interval Observer for Nonlinear Discrete-Time Systems," IEEE Control Systems Letters (L-CSS), Apr. 2024 (jointly presented at 63rd IEEE CDC). [PDF, arXiv]
π π€G. Q. B. Tran, T. N. Dinh, Z. Wang, "Interval Observer Design Using Observability Decomposition for Detectable Linear Systems," 23rd IFAC World Congress, Busan, South Korea, Aug. 2026. [arXiv]
These works result from collaborations with colleagues on state and uncertainty estimationβencompassing unknown parameters, disturbances, and faultsβin multi-rotor systems. They are supported by experimental validation using a drone test bench at The University of Tokyo.
πG. Q. B. Tran, B. M. Nguyen, "Hierarchical Estimation of Uncertainties in Multi-Rotors: A Yaw-Motion Study Using Test Bench," Control Engineering Practice, Feb. 2026 (jointly presented at the 23rd IFAC World Congress). [PDF (open access), HAL]
π€G. Q. B. Tran, B. M. Nguyen, "Towards Parameter and Unknown Input Estimation for Multi-Rotors," SICE International Symposium on Control Systems (ISCS), Osaka, Japan, Mar. 2025.
We study controller and observer design for linear networks using generalized frequency variables.
π π€G. Q. B. Tran, Y. Hori, S. Hara, "Observer-Based Stabilization for Linear Multi-Agent Dynamical Systems Using Generalized Frequency Variables," 23rd IFAC World Congress, Busan, South Korea, Aug. 2026. [arXiv]
We address stability and transmission conditions in teleoperation systems with delays.
π π€G. Q. B. Tran, T. Miyoshi, H. D. Tho, "Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback," 65th IEEE Conference on Decision and Control (CDC), Honolulu, HI, USA, Dec. 2026. [arXiv]
These works stem from research projects conducted during my Masterβs studies. They primarily focus on estimation methods for a class of Nonlinear Parameter-Varying (NLPV) systems, with illustrative applications to semi-active automotive suspension systems. I refer to these systems as linear-like, as despite their having some nonlinearities, the proposed techniques rely largely on linear system properties.Β
πG. Q. B. Tran, T.-P. Pham, O. Sename, "Unified Generalized H2 Nonlinear Parameter Varying Observer: Application to Automotive Suspensions," IEEE Control Systems Letters (L-CSS), Jun. 2022 (jointly presented at 61st IEEE CDC). [PDF, HAL]
πG. Q. B. Tran, T.-P. Pham, O. Sename, E. Costa, P. Gaspar, "Integrated Comfort-Adaptive Cruise and Semi-Active Suspension Control for an Autonomous Vehicle: An LPV Approach," Electronics, Mar. 2021. [PDF, GitHub]
π€G. Q. B. Tran, T.-P. Pham, O. Sename, "Fault Estimation Observers for the Vehicle Suspension with a Varying Chassis Mass," 12th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS), Ferrara, Italy, Jun. 2024. [PDF, HAL]
π€T.-P. Pham, O. Sename, G. Q. B. Tran, "Non Linear Parameter Varying Observer based on Descriptor Modeling for Damper Fault Estimation," IFAC Joint Conference SSSC β TDS β LPVS, Montreal, Canada, Sep. 2022. [PDF]
π€G. Q. B. Tran, T.-P. Pham, O. Sename, "Multi-Objective Grid-Based Lipschitz NLPV PI Observer for Damper Fault Estimation," 11th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS), Paphos, Cyprus, Jun. 2022. [PDF]
π€G. Q. B. Tran, T.-P. Pham, O. Sename, "Multi-Objective Unified qLPV Observer: Application to a Semi-Active Suspension System," 4th IFAC Workshop on Linear Parameter-Varying Systems (LPVS), Milan, Italy, Jul. 2021. [PDF]
π€T.-P. Pham, O. Sename, C. T. Phan, G. Q. B. Tran, "Hβ Observer for Road Profile Estimation in an Automotive Semi-Active Suspension System Using Two Accelerometers," 10th International Conference on Mechatronics and Control Engineering (ICMCE), Lisbon, Portugal, Jul. 2021. [PDF, HAL]
These works stem from research projects conducted during my Masterβs studies and are grouped here as they do not fall into the main research themes.Β
π€M. M. Morato, G. Q. B. Tran, G. N. G. dos Reis, J. E. Normey-Rico, O. Sename, "NMPC Through qLPV Embedding: A Tutorial Review of Different Approaches," 7th IFAC Conference on Nonlinear Model Predictive Control (NMPC), Bratislava, Slovakia, Jul. 2021. [PDF]
π€G. Q. B. Tran, Z. Wang, Y. Koge, K. Nakano, "Surface Electromyography-Controlled Vehicle Braking Assistance System Using Deep Learning," 12th International Conference on Applied Human Factors and Ergonomics (AHFE), New York City, NY, USA, Jul. 2021. [PDF, GitHub]
π€G. Q. B. Tran, O. Sename, P. Gaspar, B. Nemeth, E. Costa, "Adaptive Speed Control of an Autonomous Vehicle with a Comfort Objective," 17th International Conference on Vehicle System Dynamics, Identification and Anomalies (VSDIA), Budapest, Hungary, Nov. 2020. [PDF]
π€E. Costa, T.-P. Pham, O. Sename, G. Q. B. Tran, T. T. Do, P. Gaspar, "Definition of a Reference Speed of an Autonomous Vehicle with a Comfort Objective," 17th International Conference on Vehicle System Dynamics, Identification and Anomalies (VSDIA), Budapest, Hungary, Nov. 2020. [PDF]