Dr. Farokhi

1- Faculty profile

First Name:

Contact imformation:

Email :farrokhi (At) iust.ac.ir

3- Expertise

• Control System Engineering
• Artificial Neural Networks
• Fuzzy Logic
• Neuro-Fuzzy Control
• Optimization
• Linear Algebra & Vector Space Analysis
• Numerical Analysis

5- Research and Industrial Projects:

• Control, Path Planning, and Target Tracking in Aero-Space Engineering

• Calibration-Alignments in Inertial Navigation Systems

• Path Planning and Control of Robot Manipulators and Mobile Robots

• Intelligent Control and State-of-Charge Estimation of Battery Charging

• Control of Switched Reluctance Motors

• Control of Hybrid Electric Vehicles

• Control of Four-Wheel Steering Vehicles

• Control of Refrigeration Systems

• Identification of Non-linear Dynamic Systems

7- Confrence papers:

1) S. M. Hoseini and M. Farrokhi, “Output-feedback stabilization of nonlinear non-minimum phase systems using neural network,” 5^th International Symposium on Mechateronics and its applications, Amman, Jordan, 2008.

2) A. Kazemy and M. Farrokhi, “Modelling and hybrid intelligent control of submarine periscope,” 7^th Iranian Conference on Aerospace Engineering, Tehran, Iran, 2008.

3) M. Gorji and M. Farrokhi, “Sensor fusion of GPS and inertial navigation data using neural networks, 7^th Iranian Conference on Aerospace Engineering, Tehran, Iran, 2008. (in Persian)

4) A. Badkoobeh and M. Farrokhi, “A novel algorithm for UAV path planning of terrain following flight,” 7^th Iranian Conference on Aerospace Engineering, Tehran, Iran, 2008. (in Persian)

5) S. M. Hoseini and M. Farrokhi, “Adaptive stabilization of non-minimum phase nonlinear systems using neural networks,” 9^th IFAC Workshop on Adaptation and Learning in Contro and Signal Processing, St. Petersburg, Russia, 2007.

6) S. M. Hoseini, M. Farrokhi, and A. J. Koshkouei, “Adaptive output feedback control of nonlinear non-minimum phase systems using neural networks,” International Conference on Systems Science, Wrocław, Poland, 2007.

7) A. Kazemi, S. A. Hosseini, and M. Farrokhi, “Target-based line-of-site stabilization in periscopes,” IEEE Mediteranian Conference on Control and Automation, Athens, Greece, 2007.

8) A. Kazemi, S. A. Hosseini, and M. Farrokhi, “Second order diagonal recurrent neural network,” IEEE International Symposium on Industrial Electrinics, Vigo, Spain, 2007.

9) A. Kazemi, S. A. Hosseini, and M. Farrokhi, “On-line intelligent control of submarine periscopes,” IEEE International Symposium on Industrial Electrinics, Vigo, Spain, 2007.

10) A. Kazemi, S. A. Hosseini, and M. Farrokhi, “ Steady-state error reduction with fuzzy gain scheduling, 4^th IEEE GCC, Bahrain, 2007.

11) A. Kazemi, S. A. Hosseini, and M. Farrokhi, “Line of site stabilization in submarine periscope against sea surface movements,” 15^th Iranian conference on Electrical Engineering, Tehran, Iran, 2007.

12) E. Zare-Atabaki and M. Farrokhi, “Design of NMPC for mobile robot guidance in presence of obsticles,” 15^th Annual (International) Conference on Mechanical Engineering, Tehran, Iran, 2007. (in Persian)

13) A. Badkoobeh and M. Farrokhi, “Modelling and inverse neuro-control for terrain following flight using RBF network,” 15^th Annual (International) Conference on Mechanical Engineering, Tehran, Iran, 2007. (in Persian)

14) A. Alfi and M. Farrokhi, “Bilateral Control of Master-Slave Manipulators,” 15^th Annual (International) Conference on Mechanical Engineering, Tehran, Iran, 2007.

15) A. Kazemy and M. Farrokhi, “Image stabilisation in submarine periscopes against see wave movement ,” 6^th Iranian Conference on Aerospace Engineering, Tehran, Iran, 2007. (in Persian)

16) S. A. Hosseini, A. Kazemi, and M. Farrokhi, “A novel alpha-beta-gamma-eta tracking filter for jerky models,” 6^th Iranian Conference on Aerospace Engineering, Tehran, Iran, 2007. (in Persian)

17) A. Badkoobeh and M. Farrokhi, “Inverse neuro-controller for terrain following flight, 6^th Iranian Conference on Aerospace Engineering, Tehran, Iran, 2007. (in Persian)

18) M. Forghani and M. Farrokhi, “Altitude estimation of LEO satellites using neural networks,” 6^th Iranian Conference on Aerospace Engineering, Tehran, Iran, 2007. (in Persian)

19) S. M. Hseini, M. Farrokhi, and A. J. Koshkouei, “Robust adaptive control of nonlinear systems using neural networks,” 8^th International Conference on Systems Engineering, Coventry, UK, 2006.

20) A. Alfi and M. Farrokhi, “Bilateral transparent teleoperation with long time-varying delay: new control design and stability analysis,” IEEE Conference on Decision and Control, San Diego, USA, 2006.

21) A. Alfi and M. Farrokhi, “Bilateral Control to Achieve Transparent Teleoperation with Perturbation of Static Time Delay,” IEEE Industrial Electronic Conference, Paris, France, 2006.

22) A. Alfi and M. Farrokhi, “A New Control Method for Telerobotic Systems,” 14^th Annual (International) Conference on Mechanical Engineering, Isfahan, Iran, 2006.

23) A. Alfi and M. Farrokhi, “On the closed-loop stability analysis of transparent teleoperation systems with time-varying delay using a new structure,” 6^th IFAC Workshop on Time-Delay Systems, L’Aquila, Italy, 2006.

24) M. Razi, M. Farrokhi, M. H. Saeidi, and A. R. Faghih Khorasani, “Neuro-predictive control for automotive air conditioning system,” IEEE International Conference on Engineering of Intelligent Systems, Islamabad, Pakistan, 2006.

25) A. Ghanbari and M. Farrokhi, “Decentralized neuro-fuzzy controller design using decoupled sliding-mode structure for two-dimensional inverted pendulum,” IEEE International Conference on Engineering of Intelligent Systems, Islamabad, Pakistan, 2006.

26) B. Rezaie, Z. Rahmani Cherati, M. R. Jahedmotlagh, and M. Farrokhi, “Stabilization of the Lorenz chaotic equations by fuzzy controller,” World Enformatika Society, Transactions on Engineering, Computing and Technology, vol. 15, pp. 246-249, Barcelona, Spain, 2006.

27) A. Alfi and M. Farrokhi, “Bilateral transparent teleoperation with long time-varying delay: new control design and stability analysis,” 45^th IEEE Conference on Decision and Control, San Diego, USA, 2006.

28) A. Alfi and M. Farrokhi, “Bilateral control to achieve transparent teleoperation with perturbation of static time delay,” 32^nd IEEE Industrial Electronics Conference, Paris, France, 2006.

29) S. M. Hoseini, M. Farrokhi, and A. Koshkouei, “ Adaptive control of nonaffine systems with asymptotic stability using neural networks,” 18^th International Conference on System Engineering, Coventry, UK, 2006.

30) A, Alfi, M. Farrokhi, “On the closed-loop stability analysis of transparent teleoperation systems with time-varying delay using a new structure,” 6^th IFAC Workshop on Time-Delay Systems, L’Acquila, Italy, 2006.

31) S. M. Hoseini and M. Farrokhi, “Discrete sliding control of nonlinear nonaffine system using neural network and approximate models,” 14^th Iranian Conference on Electrical Engineering, Tehran, Iran, 2006.

32) A. Alfi and M. Farrokhi, “Robust bilateral teleoperation with varying time-delay,” 14^th Iranian Conference on Electrical Engineering, Tehran, Iran, 2006.

33) M. Mohebbi, M. Charkhgard, and M. Farrokhi, “Optimal neuro-fuzzy control of parallel hybrid electric vehicles,” IEEE Vehicle Power and Propulsion Conference, Chicago, USA, 2005.

34) A. Fanaei and M. Farrokhi, “Adaptive neuro-fuzzy controller for hybrid position/force control of robotic manipulators,” 16^th IFAC World Congress, Prague, Czech Republic, 2005.

35) M. Mohebbi and M. Farrokhi, “Optimal fuzzy control of parallel hybrid electric vehicles,” International Conference on Control, Automation, and Systems, Gyeonggi-Do, Korea, 2005.

36) A. Alfi, M.R. Jahedmotlagh, and M. Farrokhi, “Control of flexible-joint robot manipulators moving in vertical plane in presence of disturbances,” 13^th Annual (International) Conference on Mechanical Engineering, Isfahan, Iran, 2005. (in Persian)

37) M. Hajatipour and M. Farrokhi, “Neuro-controller for speed control and audio -noise reduction in switched reluctance motors using in hybrid vehicles,” 13^th Iranian Conference on Electrical Engineering, Zanjan, Iran, 2005. (in Persian)

38) B. Rezaii, M.R. Jahedmotlagh, M. Farrokhi, and Z. Rahmani, “Identification and control of chaotic systems using neural networks with extended redial basis functions,” 13^th Iranian Conference on Electrical Engineering, Zanjan, Iran, 2005. (in Persian)

39) A. Kazemi, M. Farrokhi, and M. Niasati, “Conformity functioning of SVC and UTLC using fuzzy logic, “13^th Iranian Conference on Electrical Engineering, Zanjan, Iran, 2005. (in Persian)

40) N. Shariatmadari, M. Farrokhi, and A. Falamaki, “Prediction of partition coefficients for cadmium by neural networks,” 57^th Canadian Geotechnical Conference, Quebec, Canada, 2004.

41) M. R. Taghavi and M. Farrokhi, “Designing fuzzy VSPID controller for vehicle speed control,” 12^th Annual (International) Conference on Mechanical Engineering, Tehran, Iran, 2004.

42) A. Alfi and M. Farrokhi, “Handling improvement of four-wheel-steering vehicles at high speeds,” 12^th Iranian Conference on Electrical Engineering, Mashhad, Iran, 2004. (in Persian)

43) A. Moharrampour and M. Farrokhi, “Improvement of infrared homing-missile guidance against countermeasures using fuzzy system,” 12^th Iranian Conference on Electrical Engineering, Mashhad, Iran, 2004. (in Persian)

44) A. Moharrampour and M. Farrokhi, “Decoy countermeasures in infrared homing missiles using fuzzy logic,” 5^th Iranian Conference on Fuzzy Systems, Tehran, Iran, 2004. (in Persian)

45) A. Fanaei, O. Seyyed-Mousavi, and M. Farrokhi, “Adaptive neuro-fuzzy hybrid position/force control of robot manipulators with surface friction compensator in contact with unknown environments,” 5^th Iranian Conference on Fuzzy Systems, Tehran, Iran, 2004. (in Persian)

46) N. Ramezani, M. Farrokhi, and M. Babaei, “A novel fuzzy-based approach for optimal capacitor placement in distribution systems,” 19^th International Conference on Power Electric Engineering, Tehran, Iran, 2004. (in Persian)

47) M. Hajatipour and M. Farrokhi, “Fuzzy clustering algorithm for high impedance fault detection,” 19^th International Power System Conference, Tehran, Iran, 2004. (in Persian)

48) A. Gholami, A. Kazemi, M. Farrokhi, and F. Matin, “Substation and distribution network reconfiguration by artificial neural networks for loss minimization,” 19^th International Power System Conference, Tehran, Iran, 2004. (in Persian)

49) M. Mirzaii, A. Gholami, and M. Farrokhi, “Diagnostic of transformer insulation faults using DGA method and fuzzy-neural networks,” 19^th International Power System Conference, Tehran, Iran, 2004. (in Persian)

50) H.A. Shayanfar, M. Farrokhi, and H. Shayeghi, “Application of radial basis function networks to power system load frequency control,” International Conference on Artificial Intelligence, Las Vegas, USA, 2003.

51) M. Dadashi, M.R. Jahedmotlagh, M. Farrokhi, “Decentralized SSV controller for large-scale nonlinear systems,” 18^th International Conference on Power Electric Engineering, Tehran, Iran, 2003. (in Persian)

52) A. Moharrampour, M. Farrokhi, and J. Poshtan, “Nonlinear control of homing missiles using multilayer neural network,” 2^nd Conference of Iranian Aerospace Organization, Tehran, Iran, 2003. (in Persian)

53) M.R. Mousavi, K. Mohammadi, M. Refan, and M. Farrokhi, “Prediction of error and improvement of position accuracy on low cost GPS receiver with MLP neural network,” 11^th Iranian Conference on Electrical Engineering, Shiraz, Iran, 2003.

54) H. Shabani, M. Farrokhi, and S. Baradaran-Shokohi, “A new method for edge detection using classical and fuzzy methods,” 11^th Iranian Conference on Electrical Engineering, Shiraz, Iran, 2003. (in Persian)

55) H. Mojallali, M. Farrokhi, and A.A. Jalali, “Noise cancellation in noncausal conditions for feedforward active noise control system using fuzzy logic, 11^th Iranian Conference on Electrical Engineering, Shiraz, Iran, 2003. (in Persian)

56) M. Farrokhi, A. Gholami, and M. Mirzai, “Error identification and cellulose insulating property in power transformers using fuzzy logic,” 11^th Iranian Conference on Electrical Engineering, Shiraz, Iran, 2003. (in Persian)

57) H. Moghbeli, M. Shahnazari, and M. Farrokhi, “Sensorless vector control of PMSM drive using fuzzy logic for EV/HEV applications,” SAE World Congress, USA, 2003.

58) A. Alfi and M. Farrokhi, “Incremental fuzzy P + ID controller design for four-wheel-steering vehicles for improvement of handling characteristics,” 10^th Annual (International) Conference on Mechanical Engineering, Tehran, Iran, 2002. (in Persian)

59) B. Rezaii, M.R. Jahedmotlagh, and M. Farrokhi, “Fuzzy tuning of local and central controllers in HVDC systems,” 10^th Iranian Conference on Electrical Engineering, Tabriz, Iran, 2002. (in Persian)

60) A. Alfi and M. Farrokhi, “Robust and stable state-feedback controller design in sliding mode for four-wheel-steering vehicles,” 10^th Iranian Conference on Electrical Engineering, Tabriz, Iran, 2002. (in Persian)

61) A. Rahideh, H. Moghbeli, M. Farrokhi, and A.A. Safavi, “Estimation of feedback signals in induction motors with vector control using three neural networks,” 10^th Iranian Conference on Electrical Engineering, Tabriz, Iran, 2002. (in Persian)

62) S. Jalilzadeh and M. Farrokhi, “Unit commitment using hybrid neuro-fuzzy systems,” 10^th Iranian Conference on Electrical Engineering, Tabriz, Iran, 2002. (in Persian)

63) A. Alfi and M. Farrokhi, “Adaptive fuzzy controller for handling improvement of four-wheel-steering systems,” 15^th IFAC World Congress, Barcelona, Spain, 2002.

64) S. M. Hoseini, A. Alfi, M. Farrokhi, and M.R. Jahedmotlagh, “Fuzzy-Sliding State-Feedback Control of Nonlinear Ball Suspension System,” 15^th IFAC World Congress, Barcelona, Spain, 2002.

65) S. Hosseinzadeh, H. Oreizi, and M. Farrokhi, “Reconstruction of permittivity profile of dielectric slabs by artificial neural networks,” Mediterranean Microwave Symposium, Spain, 2002.

66) H. Bolandi, M. Farrokhi, and B. Ghorbani, “Designing neural networks for estimating LEO satellites orientation,” 4^th Iranian Conference on Aerospace Engineering,” Tehran, Iran, 2002.

67) A. Ghanbari and M. Farrokhi, “Decentralized decoupled sliding-mode controller for two-dimensional inverted pendulum using neuro-fuzzy modeling,” IFAC Advanced Fuzzy-Neural Conference, Valencia, Spain, 2001.

68) M. Rafii and M. Farrokhi, “Evaluation of used and repaired power transformers using neural networks,” IEEE/PES Transmission and Distribution Conference, Atlanta, USA, 2001.

69) M. Farrokhi, M. Tolue, and H. A. Shayanfar, “Voltage profile optimization in distribution systems using neural networks,” IASTED International Conference on Power Engineering Systems, pp.131-136, Rhodes, Greece, 2001.

70) A. Farhadi and M. Farrokhi, “Improvement of neuro-predictive control using a new scheme for training,” IASTED International Conference on Modeling, Identification and Control, vol. 1, pp. 398-402, Feb. 2001, Innsbruck, Austria.

71) A. Ghanbari and M. Farrokhi, “Decentralized decoupled sliding-mode controller for two-dimensional inverted pendulum with neuro-fuzzy modeling,” 9^th Iranian Conference on Electrical Engineering, vol. 4, pp. 421-428, 2001, Tehran, IRAN, 2001. (in Persian)

72) A. Salami and M. Farroki, “Control of installed capacitors in distribution systems using radial basis function networks,” 9^th Iranian Conference on Electrical Engineering, vol. 1, pp. 341-347, Tehran, Iran, 2001. (in Persian)

73) M. Rafii, M. Farrokhi, and B. Ganjeii, “Fuzzy decision making for power transformer oil,” 9^th Iranian Conference on Electrical Engineering, vol. 4, pp. 581-587, Tehran, Iran, 2001. (in Persian)

74) M. Azadi, M. Farrokhi, and A.A. Safavi, “Estimation of vector-control currents of synchronous motors with permanent magnet using neural networks,” 9^th Iranian Conference on Electrical Engineering, vol. 4, pp. 51-58, Tehran, Iran, 2001. (in Persian)

75) A. Alfi and M. Farrokhi “Design of adaptive fuzzy controller for four-wheel steering vehicles with fuzzy modeling,” 9^th Iranian Conference on Electrical Engineering, vol. 4, pp. 401-407, Tehran, Iran, 2001. (in Persian)

76) A. Lotfi, M. Farrokhi, and F.H. Kashani, “Hybrid neuro-fuzzy reasoning for analysis of micro-strip lines,” 9^th Iranian Conference on Electrical Engineering, vol. 4, pp. 441-448, Tehran, Iran, 2001. (in Persian)

77) R. Asgari, A. Mohammadshahri, and M. Farrokhi, “Adaptive fuzzy controller for the robot arm of anti-personnel mine detectors,” 9^th Iranian Conference on Electrical Engineering, vol. 4, pp. 161-168, Tehran, Iran, 2001. (in Persian)

78) M. Niasati and M. Farrokhi, “Simulation of distance relay using neural networks,” 16^th International Conference on Power Electric Engineering, Teharn, Iran, 2001. (in Persian)

79) G. Ezzatzadegan, M. Farrokhi, and A.A. Jalali, “Design of neuro-fuzzy identifiers based on fuzzy partitioning method,” 2^nd International Conference on Applied Mathematics, vol. 1, pp. 536-446, Tehran, Iran, 2000. (in Persian)

80) G. Ezzatzadegan, M. Farrokhi, and A.A. Jalali, “Identification of dynamical systems of robots using compensatory neuro-fuzzy networks,” 2^nd International Conference on Applied Mathematics, vol. 2, pp. 420-429, Tehran, Iran, 2000. (in Persian)

81) H. Sabzpoushan and M. Farrokhi, “Modeling of nonlinear dynamical systems using neural networks,” 4^th Iranian Conference on Differential Equations, Dynamical Systems and It’s Applications, Mashhad, Iran, 2000. (in Persian)

82) M. Seddighizadeh, M. Farrokhi, and M. Shahrtash, “High impedance fault detection using neural networks based on radial basis functions,” 15^th International Power System Conference, Tehran, Iran, 2000. (in Persian)

83) M. Rafii and M. Farrokhi, “Evaluation of used and repaired power transformers using neural networks,” 15^th International Power System Conference, Tehran, Iran, 2000. (in Persian)

84) M. Badii and M. Farrokhi, “Parameter estimation of nonlinear ARMA models using RBF networks,” 8^th Iranian Conference on Electrical Engineering, vol. 3, pp. 353-360, Isfahan, Iran, 2000. (in Persian)

85) C. Işik and M. Farrokhi “Recurrent neuro-fuzzy systems,” North American Fuzzy Information Processing Society ‘97, pp. 362-366, Syracuse, New York, USA, 1997.

86) M. Farrokhi and C. Işik, “Application of Prony signal analysis to recurrent neural networks,” IEEE World Congress on Computational Intelligence, vol. 1, pp. 413-418, Orlando, Florida, USA, 1994.

9- Professional Activities

11- Postgraduate Projects:

Ph.D. Dissertations Under my Supervision:

1) A. Alfi, A new control structure for transparent teleoperation systems with perturbed delay time in communication channel, 2007.

2) S. MohammadHosseini, Adaptive stabilization of non-minimum phase non-affine systems based on output feedback using neural networks, 2007.

M.Sc. Thesis Under my Supervision:

1) M. Shahriari, Design and implemenation of state-of-health estimator for batteries based on state of charge, 2008.

2) A. M. Jasour, Designing predictive controller for robot manipulators in presence of obsticles, 2008.

3) H. Torab, Error reduction of free gyroscopes using robust control methods, 2008.

4) M. Gorji, Design of intelligent algorithm for in-flight alignment-calibration for inertial navigation systems, 2007.

5) A. Badkoobeh, Optimal path planning and control of unmanned aerial vehicles in terrain following terrain avoidance, 2007.

6) E. ZareAtabaki, Designing model-predictive controller for path tracking and obsticle avoidance in mobile robots, 2006.

7) M. S. Forghani, Designing intelligent filters for position estimation of LEO sattelites using real data, 2006.

8) S. A. Hosseini, Design and implemantation of an intelligent controller for electro-optical tracking platform, 2006.

9) A. Kazemi, Design and implemantation of an intelligent controller for image stabilization in a laboratory 3DOF periscope, 2006.

10) M. Mohebbi, Torque-fuel optimal control of powertrain in hybrid electric vehicles using intelligent methods, 2005.

11) M. Charkhgard, Design and implementation of intelligent controller for lithium-ion batteries based on state-of-charge estimation, 2005.

12) M. Hajatipour, Speed control with torque ripple and noise reduction for switched reluctance motors using observer for rotor speed, 2005.

13) G. ZargarHartoonian, Security control based on face recognition using neurl networks, 2004.

14) M. Razi, Designing fuzzy and neuro- predictive controller for refrigeration systems, 2004.

15) E. MohammadTabar Kasgari, Fuzzy logic controllerdesign for HVAC system using genetic algorithms, 2004.

16) S. H. Torabi, Designing neuro-fuzzy controller for idle speed control of direct-injection spark ignition engines, 2003

17) A. Fanai, Designing adaptive neuro-fuzzy controller for position/force control of robot manipulators with 3DOF in contact with unknown environment with a surface-friction compensator, 2003.

18) S. O. SeyyedMosavi, Designing adaptive neuro-fuzzy controller for robots with two flexible links, 2003.

19) M.R. Taghavi, Designing neuro-fuzzy controller for vehicle speed control, 2002.

20) M. ShahMohammdAbadani, Designing neuro-fuzzy controller for half-model vehicle suspension system, 2002.

21) M. Dadashi, Designing classical and fuzzy controllers for large scale systems, 2002.

22) B. Rezaei, Design and simulation of local and centeral controllers in HVDC systems using fuzzy logic, 2001

23) B. Hosseinzadeh, Fuzzy control of fuel injection in internal-combustion engines, 2001.

24) A. Alfi, Fuzzy control of four-wheel-steering vehicles, 2001,

25) R. Asgari, Design, construction and fuzzy-adaptive control of mine-detecting robot, 2000.

26) A. Ghanbari, Neuro-fuzzy control of two-dimensional inverted pendulum, 2000.

27) S. Nasr Azadani, Design and simulation of a controller using neural networks for a class of nonlinear dynamic systems, 1999.

28) G. Ezzatzadegan Jahromi, Identification of nonlinear dynamic systems using artificial neural networks, 1999.

13- Research Labs: