Research activity information

• Jun. 2020 University of California San Diego, Center for Control Systems and Dynamics, Robert E. Skelton Systems and Control Dissertation Award


• Jul. 2019 American Automatic Control Council, O. Hugo Schuck Best Paper Award

  Shumon Koga, Iasson Karafyllis, Miroslav Krstic


• Jun. 2018 University of California San Diego, Department of Mechanical and Aerospace Engineering, Outstanding Graduate Student Award

• Safe Stabilization of the Stefan Problem with a High-Order Moving Boundary Dynamics by PDE Backstepping

  Shumon Koga, Miroslav Krstic

  IEEE, Dec. 2025, 2025 IEEE 64th Conference on Decision and Control (CDC), 2997 - 3002

  [Refereed]

  International conference proceedings


• Lyapunov-Certified Trajectory Tracking for Mobile Robot With a Tail Wheel: Differential-Flatness and Adaptive Backstepping Design

  Yuta Nishizawa, Shumon Koga, Koki Aizawa, Yuji Yasui

  IEEE, May 2025, 2025 IEEE International Conference on Robotics and Automation (ICRA), 3947 - 3953

  International conference proceedings


• Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions

  Minnan Zhou, Mustafa Shaikh, Vatsalya Chaubey, Patrick Haggerty, Shumon Koga, Dimitra Panagou, Nikolay Atanasov

  IEEE, May 2025, 2025 IEEE International Conference on Robotics and Automation (ICRA), 12863 - 12869

  International conference proceedings


• Neuron growth control and estimation by PDE backstepping

  Demir, C., Koga, S., Krstic, M.

  Jul. 2024, Automatica, 165, English

  [Refereed]

  Scientific journal


• Sampled-Data Output Feedback Control of the Stefan Problem with Explicit Condition of Sampling Scheduling.

  Shumon Koga

  2024, American Control Conference(ACC), 3966 - 3971, English

  [Refereed]

  International conference proceedings


• Event-Triggered Control of Neuron Growth with Actuation at Soma.

  Cenk Demir, Shumon Koga, Miroslav Krstic

  2024, American Control Conference(ACC), 5301 - 5306, English

  [Refereed]

  International conference proceedings


• Safe PDE Backstepping QP Control With High Relative Degree CBFs: Stefan Model With Actuator Dynamics

  Koga, S., Krstic, M.

  Dec. 2023, IEEE Transactions on Automatic Control, 68(12) (12)

  [Refereed]

  Scientific journal


• Event-Triggered Safe Stabilizing Boundary Control for the Stefan PDE System with Actuator Dynamics

  Shumon Koga, Cenk Demir, Miroslav Krstic

  IEEE, May 2023, 2023 American Control Conference (ACC), 1794 - 1799

  [Refereed]

  International conference proceedings


• Learning Continuous Control Policies for Information-Theoretic Active Perception

  Pengzhi Yang, Yuhan Liu, Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov

  Corresponding, IEEE, May 2023, 2023 IEEE International Conference on Robotics and Automation (ICRA)

  [Refereed]

  International conference proceedings


• Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories.

  Pengzhi Yang, Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov 0001

  Corresponding, PMLR, 2023, Learning for Dynamics and Control Conference(L4DC), 64 - 75

  [Refereed]

  International conference proceedings


• Control Synthesis for Stability and Safety by Differential Complementarity Problem

  Yi, Y., Koga, S., Gavrea, B., Atanasov, N.

  2023, IEEE Control Systems Letters, 7

  [Refereed]

  Scientific journal


• Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories

  Arash Asgharivaskasi, Shumon Koga, Nikolay Atanasov

  IEEE, Oct. 2022, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 12994 - 13001

  [Refereed]

  International conference proceedings


• Neuron Growth Output-Feedback Control by PDE Backstepping

  Cenk Demir, Shumon Koga, Miroslav Krstic

  IEEE, Jun. 2022, 2022 American Control Conference (ACC), 4159 - 4164

  [Refereed]

  International conference proceedings


• Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach

  Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov

  IEEE, Jun. 2022, 2022 American Control Conference (ACC), 5062 - 5068

  [Refereed]

  International conference proceedings


• Control of the Stefan System and Applications: A Tutorial

  Koga, S., Krstic, M.

  May 2022, Annual Review of Control Robotics and Autonomous Systems, 5, English

  [Refereed]

  Scientific journal


• Input Delay Compensation for Neuron Growth by PDE Backstepping

  Cenk Demir, Shumon Koga, Miroslav Krstic

  Elsevier BV, 2022, IFAC-PapersOnLine, 55(36) (36), 49 - 54

  [Refereed]

  Scientific journal


• State estimation of the Stefan PDE: A tutorial on design and applications to polar ice and batteries

  Koga, S., Krstic, M.

  2022, Annual Reviews in Control, 53, English

  [Refereed]

  Scientific journal


• Neuron Growth Control by PDE Backstepping: Axon Length Regulation by Tubulin Flux Actuation in Soma

  Cenk Demir, Shumon Koga, Miroslav Krstic

  IEEE, Dec. 2021, 2021 60th IEEE Conference on Decision and Control (CDC), 649 - 654

  [Refereed]

  International conference proceedings


• Active Exploration and Mapping via Iterative Covariance Regulation over Continuous SE(3) Trajectories

  Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov

  IEEE, Sep. 2021, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2735 - 2741

  [Refereed]

  International conference proceedings


• Extremum seeking-based observer design for reduced order models of coupled thermal and fluid systems

  Koga, S., Benosman, M., Borggaard, J.

  Lead, Jul. 2021, International Journal of Adaptive Control and Signal Processing, 35(7) (7), English

  [Refereed]

  Scientific journal


• Energy storage in paraffin: A PDE backstepping experiment

  Koga, S., Makihata, M., Chen, R., Krstic, M., Pisano, A., P

  Jul. 2021, IEEE Transactions on Control Systems Technology, 29(4) (4)

  [Refereed]

  Scientific journal


• Extremum seeking for unknown scalar maps in cascade with a class of parabolic partial differential equations

  Oliveira, T.R., Feiling, J., Koga, S., Krstic, M.

  Jul. 2021, International Journal of Adaptive Control and Signal Processing, 35(7) (7), English

  [Refereed]

  Scientific journal


• Towards implementation of PDE control for Stefan system: Input-to-state stability and sampled-data design

  Koga, S., Karafyllis, I., Krstic, M.

  May 2021, Automatica, 127, English

  [Refereed]

  Scientific journal


• State estimation for lithium-ion batteries with phase transition materials via boundary observers

  Koga, S., Camacho-Solorio, L., Krstic, M.

  Apr. 2021, Journal of Dynamic Systems Measurement and Control Transactions of the ASME, 143(4) (4), English

  [Refereed]

  Scientific journal


• Extremum seeking for traffic congestion control with a downstream bottleneck

  Yu, H., Koga, S., Oliveira, T.R., Krstic, M.

  Mar. 2021, Journal of Dynamic Systems Measurement and Control Transactions of the ASME, 143(3) (3), English

  [Refereed]

  Scientific journal


• Multivariable Extremum Seeking for PDE Dynamic Systems

  Oliveira, T.R., Feiling, J., Koga, S., Krstic, M.

  Nov. 2020, IEEE Transactions on Automatic Control, 65(11) (11)

  [Refereed]

  Scientific journal


• Laser sintering control for metal additive manufacturing by PDE backstepping

  Koga, S., Krstic, M., Beaman, J.

  Sep. 2020, IEEE Transactions on Control Systems Technology, 28(5) (5)

  [Refereed]

  Scientific journal


• Delay compensated control of the Stefan problem and robustness to delay mismatch

  Koga, S., Bresch-Pietri, D., Krstic, M.

  Apr. 2020, International Journal of Robust and Nonlinear Control, 30(6) (6), English

  [Refereed]

  Scientific journal


• Stabilization of Filament Production Rate for Screw Extrusion-Based Polymer Three-Dimensional-Printing

  Koga, S., Straub, D., Diagne, M., Krstic, M.

  Mar. 2020, Journal of Dynamic Systems Measurement and Control Transactions of the ASME, 142(3) (3), English

  [Refereed]

  Scientific journal


• Arctic sea ice state estimation from thermodynamic PDE model

  Koga, S., Krstic, M.

  Feb. 2020, Automatica, 112, English

  [Refereed]

  Scientific journal


• Two-phase stefan problem

  Koga, S., Krstic, M.

  2020, Systems and Control Foundations and Applications

  Scientific journal


• Open problems

  Koga, S., Krstic, M.

  2020, Systems and Control Foundations and Applications

  Scientific journal


• Open problems

  Koga, S., Krstic, M.

  2020, Systems and Control Foundations and Applications

  Scientific journal


• State estimator design for stefan system

  Koga, S., Krstic, M.

  2020, Systems and Control Foundations and Applications

  Scientific journal


• Polymer 3D-printing via screw extrusion

  Koga, S., Krstic, M.

  2020, Systems and Control Foundations and Applications

  Scientific journal


• Sea ice

  Koga, S., Krstic, M.

  2020, Systems and Control Foundations and Applications

  Scientific journal


• Phase change model: Stefan problem

  Koga, S., Krstic, M.

  2020, Systems and Control Foundations and Applications

  Scientific journal


• State feedback control design for stefan system

  Koga, S., Krstic, M.

  2020, Systems and Control Foundations and Applications

  Scientific journal


• Preface

  Koga, S., Krstic, M.

  Systems and Control Foundations and Applications, 2020, Systems and Control Foundations and Applications

  Scientific journal


• Experimental study with paraffin melting

  Koga, S., Krstic, M.

  2020, Systems and Control Foundations and Applications

  Scientific journal


• Metal 3D-printing via selective laser sintering

  Koga, S., Krstic, M.

  2020, Systems and Control Foundations and Applications

  Scientific journal


• Extended models and design

  Koga, S., Krstic, M.

  2020, Systems and Control Foundations and Applications

  Scientific journal


• Lithium-ion batteries

  Koga, S., Krstic, M.

  2020, Systems and Control Foundations and Applications

  Scientific journal


• Materials phase change PDE control & estimation: From additive manufacturing to polar ice

  Koga, S., Krstic, M.

  Systems and Control Foundations and Applications, 2020, Systems and Control Foundations and Applications

  Scientific journal


• Single-boundary control of the two-phase Stefan system

  Koga, S., Krstic, M.

  Jan. 2020, Systems and Control Letters, 135, English

  [Refereed]

  Scientific journal


• Learning-Based Robust Observer Design for Coupled Thermal and Fluid Systems

  Shumon Koga, Mouhacine Benosman, Jeff Borggaard

  Lead, IEEE, Jul. 2019, 2019 American Control Conference (ACC), 941 - 946

  [Refereed]

  International conference proceedings


• Control and State Estimation of the One-Phase Stefan Problem via Backstepping Design

  Koga, S., Diagne, M., Krstic, M.

  2019, IEEE Transactions on Automatic Control, 64(2) (2)

  [Refereed]

  Scientific journal


• Control of Two-Phase Stefan Problem via Single Boundary Heat Input

  Shumon Koga, Miroslav Krstic

  IEEE, Dec. 2018, 2018 IEEE Conference on Decision and Control (CDC), 2914 - 2919

  [Refereed]

  International conference proceedings


• Control of Piston Position in Inviscid Gas by Bilateral Boundary Actuation

  Mona Buisson-Fenet, Shumon Koga, Miroslav Krstic

  IEEE, Dec. 2018, 2018 IEEE Conference on Decision and Control (CDC), 5622 - 5627

  [Refereed]

  International conference proceedings


• Scalar Newton-based Extremum Seeking for a Class of Diffusion PDEs

  Tiago Roux Oliveira, Jan Feiling, Shumon Koga, Miroslav Krstic

  IEEE, Dec. 2018, 2018 IEEE Conference on Decision and Control (CDC), 2926 - 2931

  [Refereed]

  International conference proceedings


• Stabilization of Traffic Flow With a Leading Autonomous Vehicle

  Huan Yu, Shumon Koga, Miroslav Krstic

  This paper develops boundary control law for autonomous vehicles to stabilize the stop-and-go traffic on freeway. The macroscopic traffic dynamics is described by the Aw-Rascle-Zhang (ARZ) model in a time and state dependent domain. The leading autonomous vehicle aims to regulate the traffic behind it to uniform equilibrium and the domain length of the traffic to a setpoint. The traffic density and speed is governed by second-order, nonlinear hyperbolic partial differential equations (PDEs), coupled with a state-dependent ODE for the leading autonomous vehicle. The actuation is the speed of autonomous vehicle at the moving front boundary of the domain. We linearize the system around a uniform velocity and density reference and certain physical properties are discussed for the model validity. The linearized model describes the dynamics of deviations of density and velocity from the reference. By transforming the linearized system in a moving coordinate, we obtain a domain with a fixed boundary at one end and a state-dependent moving boundary at the other end. The well-posedness of the system is proved and the linear instability of open-loop system is shown. We further map the system to Riemann variables and based on it, propose the boundary feedback control law actuated by the leading autonomous vehicle. The exponential stability of state variables in L2 norm and convergence to the setpoint domain length is achieved for the closed-loop system.

  American Society of Mechanical Engineers, Sep. 2018, Dynamic Systems and Control Conference, American Society of Mechanical Engineers, 51906, V002T22A006

  [Refereed]

  International conference proceedings


• Gradient extremum seeking for static maps with actuation dynamics governed by diffusion PDEs

  Feiling, J., Koga, S., Krsti?, M., Oliveira, T.R.

  Sep. 2018, Automatica, 95, English

  [Refereed]

  Scientific journal


• Axial Vibration Suppression in a Partial Differential Equation Model of Ascending Mining Cable Elevator

  Ji Wang, Shumon Koga, Yangjun Pi, Miroslav Krstic

  Lifting up a cage with miners via a mining cable causes axial vibrations of the cable. These vibration dynamics can be described by a coupled wave partial differential equation-ordinary differential equation (PDE-ODE) system with a Neumann interconnection on a time-varying spatial domain. Such a system is actuated not at the moving cage boundary, but at a separate fixed boundary where a hydraulic actuator acts on a floating sheave. In this paper, an observer-based output-feedback control law for the suppression of the axial vibration in the varying-length mining cable is designed by the backstepping method. The control law is obtained through the estimated distributed vibration displacements constructed via available boundary measurements. The exponential stability of the closed-loop system with the output-feedback control law is shown by Lyapunov analysis. The performance of the proposed controller is investigated via numerical simulation, which illustrates the effective vibration suppression with the fast convergence of the observer error.

  ASME International, Jun. 2018, Journal of Dynamic Systems, Measurement, and Control, 140(11) (11), English

  [Refereed]

  Scientific journal


• Thermodynamic Modeling and Control of Screw Extruder for 3D Printing

  Shumon Koga, David Straub, Mamadou Diagne, Miroslav Krstic

  IEEE, Jun. 2018, 2018 Annual American Control Conference (ACC), 2551 - 2556

  [Refereed]

  International conference proceedings


• Input-to-State Stability for the Control of Stefan Problem with Respect to Heat Loss at the Interface

  Shumon Koga, Iasson Karafyllis, Miroslav Krstic

  IEEE, Jun. 2018, 2018 Annual American Control Conference (ACC), 1740 - 1745

  [Refereed]

  International conference proceedings


• Delay compensated control of the Stefan problem

  Shumon Koga, Miroslav Krstic

  IEEE, Dec. 2017, 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 1242 - 1247

  [Refereed]

  International conference proceedings


• Arctic sea ice temperature profile estimation via backstepping observer design

  Shumon Koga, Miroslav Krstic

  IEEE, Aug. 2017, 2017 IEEE Conference on Control Technology and Applications (CCTA), 1722 - 1727

  [Refereed]

  International conference proceedings


• Backstepping control of the Stefan problem with flowing liquid

  Shumon Koga, Rafael Vazquez, Miroslav Krstic

  IEEE, May 2017, 2017 American Control Conference (ACC), 1151 - 1156

  [Refereed]

  International conference proceedings


• Output feedback control of the one-phase Stefan problem

  Shumon Koga, Mamadou Diagne, Miroslav Krstic

  IEEE, Dec. 2016, 2016 IEEE 55th Conference on Decision and Control (CDC), 526 - 531

  [Refereed]

  International conference proceedings


• Backstepping control of the one-phase stefan problem

  Shumon Koga, Mamadou Diagne, Shuxia Tang, Miroslav Krstic

  IEEE, Jul. 2016, 2016 American Control Conference (ACC), 2548 - 2553

  [Refereed]

  International conference proceedings

• Materials phase change PDE control & estimation : from additive manufacturing to polar ice

  Koga, Shumon, Krstic, Miroslav

  Birkhäuser, 2020, English, ISBN: 9783030584894

• Control of the Stefan Problem

  Shumon Koga

  IEEE Conference on Decision and Control 2024 Workshop, Control and Adaptation: Imagine What’s Next, Dec. 2024, English

  [Invited]

  Invited oral presentation


• Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories

  Shumon Koga

  Annual Learning for Dynamics and Control Conference (L4DC), Jun. 2023

  Invited oral presentation


• Future Perspectives on Control of Parabolic PDEs with Moving Boundaries

  Shumon Koga

  DPS Online Seminar, Jun. 2021, English

  [Invited]

  Invited oral presentation

• Synchronization of infinite-dimensional chaotic systems and study on encryption of multimedia data

  佐野 英樹, 古賀 朱門

  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), Kobe University, 01 Apr. 2025 - 31 Mar. 2029


• 確率的制御バリア関数によるロボット安全能動センシング

  古賀 朱門

  日本学術振興会, 科学研究費助成事業, 若手研究, 神戸大学, 01 Apr. 2026 - 31 Mar. 2028