People

Current Teaching Module

Current Teaching Module

• Mechatronics Laboratory
• Control Systems
• Robotics

Specialized Area

Research Interest

• Nonlinear control systems: developing tools for design and analysis of nonlinear robust (continuous-time, discrete-time and sampled-data) control systems: Lyapunov stability theory and its extensions, Lyapunov and dissipativity based design, observer design, small gain theory, discrete-time stabilization of Hamiltonian systems, Hammerstein systems and other classes of nonlinear systems.
  
  
• Signal processing and condition monitoring: developing signal processing tools for nonlinear and nonstationary
  signals analysis, particularly for signals with low frequency components and its applications to power systems signal analysis, structure monitoring and health monitoring.
  
  
• Embedded Systems and Robotics: embedded system design for control and monitoring applications, applying
  robotics and control technology in health rehabilitation, such as for stroke rehabilitation and tremor suppression, in industrial applications such as for materials handling and in control engineering education.
  
  
• Nonlinear system identification: developing algorithm for set based parameter identification for nonlinear systems, based on dynamic programming, in particular applied to biochemical processes; and nonlinear identification tools based on Hilbert transform to obtain the damping characterization of nonlinear and nonstationary signals or systems for use in analysis and control design applications.
  
  
• Engineering applications: applying theoretical results to real life engineering applications, particularly to mechanical and electro-mechanical systems, smart farming, biomedical engineering and biological systems,
  automotive (including engine control and emission reduction), power systems and energy applications.

Qualification

• PhD in Control Engineering, The University of Melbourne, Australia
• Post Graduate Certificate in Teaching and Learning, Kingston University, UK
• Graduate Reseach Certificate in Electrical Engineering, Kyoto University, Japan
• MEng in Control Engineering (Equiv MSc in the UK system), Institute of Technology Bandung, Indonesia
• BEng in Electrical Engineering (Equiv MEng in the UK system), Institute of Technology Bandung, Indonesia

Professional Bodies an Honorary Positions

• Senior Member, Institute of Electrical and Electronics Engineering (IEEE)
• Fellow, UK Higher Education Academy (FHEA)
• IFAC Technical Committee on Adaptive and Learning Systems (TC 1.2)
• Visiting Academic, University of Southampton (08.16 – present)
• Visiting Academic, Coventry University (10.19 – present)

Career

• Associate Professor (Reader) in Control and Instrumentation, Coventry University, UK (08/2016 – 09/2019)
• Lecturer in Electromechanical Systems, University of Southampton, UK (09/2011 – 07/2016)
• Senior Lecturer, Kingston University, UK (07/2009 – 08/2011)
• Research Associate, Imperial College London, UK (09/2003 – 08/2006; 09/2007 – 06/2009)
• Research Associate, Johannes Kepler University, Austria (10/2006 – 08/2007)

Publication

Refereed Full Papers

1. D. S. Laila, D. Nešić and A. R. Teel, “Open and closed loop dissipation inequalities under sampling and controller
   emulation”, European Journal of Control, vol. 8, no. 2, pp. 109-125, 2002.
   
   
2. D. Nešić and D. S. Laila, “A note on input-to-state stabilization for nonlinear sampled-data systems”, IEEE Trans.
   on Automatic Control, vol. 47, no. 7, pp. 1153-1158, 2002.
   
   
3. D. S. Laila and D. Nešić, “Changing supply rates for input-output to state stable discrete-time nonlinear systems with applications”, Automatica, vol. 39, pp. 821-835, 2003.
   
   
4. D. S. Laila and D. Nešić, “Discrete-time Lyapunov based small-gain theorem for parameterized interconnected
   ISS systems”, IEEE Trans. on Automatic Control, vol. 48, pp. 1783-1788, 2003.
   
   
5. D. S. Laila and A. Astolfi, “Input-to-state stability for discrete-time time-varying systems with applications to
   robust stabilization of systems in power form”, Automatica, vol. 41, pp. 1891-1903, 2005.
   
   
6. D. S. Laila and A. Astolfi, “Construction of discrete-time model for port-controlled Hamiltonian systems with
   applications”, Systems & Control Letters, vol. 55, pp. 673-680, 2006.
   
   
7. D. S. Laila, A. R. Messina and B. C. Pal, ” A refined Hilbert-Huang transform with applications to interarea oscillation monitoring”, IEEE Trans. on Power Systems, vol. 24, pp.610-620, 2009.
   
   
8. D. S. Laila, M. Lovera and A. Astolfi, “A discrete-time observer design for spacecraft attitude determination using an orthogonality preserving algorithm”, Automatica, vol. 47, pp. 975-980, 2011.
   
   
9. E. M. Navarro-Lopez and D. S. Laila, “Group and Total Dissipativity and Stability of Multi-Equilibria Hybrid Automata”, IEEE Trans. Auto Control, vol. 58, pp. 3196-3202, 2013.
   
   
10. D. S. Laila and E. Gruenbacher,”Nonlinear output feedback and periodic disturbance attenuation for setpoint
    tracking of a combustion engine test bench”, Automatica, vol. 64, pp. 29-36, 2016.
    
    
11. M. Ryalat and D. S. Laila, “A Simplified IDA-PBC Design for Underactuated Mechanical Systems with Applications”European Journal of Control, vol. 27, pp. 1 – 16, 2016.
    
    
12. E. H. Copur, C. T. Freeman, B. Chu and D. S. Laila, “System Identification for FES-based Tremor Suppression”, European Journal of Control, vol. 27, pp. 45 – 59, 2016.
13. G. Cannella, D. S. Laila and C. T. Freeman, “Mechanical Design of an Affordable Adaptive Gravity Balanced Orthosis for Upper Limb Stroke Rehabilitation”, International Journal of Mechanics Based Design of Structures and Machines, 2016 [DOI 10.1080/15397734.2015.1054513].
    
    
14. M. Kutlu, C. T. Freeman, E. Hallewell, A-M. Hughes and D. S. Laila, “Upper-Limb Stroke Rehabilitation using Electrode Array Based Functional Electrical Stimulation with Sensing and Control Innovations”, Medical Engineering
    and Physics, vol. 38, issue 4, pp. 366-379, 2016.
    
    
15. M. Ryalat and D. S. Laila, “A robust energy shaping approach for handling uncertainties in underactuated mechanical
    systems”, IEEE Trans. Auto. Control, vol. 63, no. 10, pp. 3495-3502, Oct. 2018.
    
    
16.  J. Sowman, S. Box, A. Wong, M. Grote, D. S. Laila, G. Gillam, A. J. Cruden, J. M. Preston and P. Fussey, “In-Use Emissions Testing of Diesel-Driven Buses in Southampton: Is Selective Catalytic Reduction as Effective as Fleet
    Operators Think?”, IET Intelligent Transport Systems, vol. 12, no. 6, pp. 521-526, 2018.
    
    
17.  E. H. Copur, C. T. Freeman, B. Chu and D. S. Laila, “Repetitive Control of Electrical Stimulation for Tremor
    Suppression”, IEEE Trans. System Control Technology, vol. 27, no. 2, Mar 2019.
    
    
18.  Z. Shaglwf, B. Hammarström, D. S. Laila, M. Hill, P. Glynne-Jones, “Acoustofluidic Particle Steering”, The Journal
    of the Acoustical Society of America, vol. 145, issue 2, 2019.
    
    
19.  S. Adi Putra, B. R. Trilaksono, M. Riyansyah, D. S. Laila, A. Harsoyo and A. Kistijantoro “Intelligent System for
    Autonomous Bridge Condition Assessment Scheduling in Wireless Sensor Network”, IEEE Internet of Things
    Journal, vol. 6 , no. 3, pp. 5397-5410, 2019.
    
    
20.  J. Sowman, D. S. Laila, P. Fussey, A. Truscott and A. Cruden, “Non-linear MPC applied to multivariable thermal
    and chemical control of SCR after treatment”, International Journal of Engine Research, appear online, Jul 2019.
    
    
21. M. Riyansyah, P. B. Wijayanto, B. R. Trilaksono, S. A. Putra and D. S. Laila, “Real time bridge dynamic response: Bridge condition assessment and early warning system” International Journal on Advanced Science, Engineering
    and Information Technology, accepted, 2019.
    
    
22. A. Fotouhi, N. Shateri, D.S. Laila and D.J. Auger, “Electric Vehicle Energy Consumption Estimation for a Fleet
    Management System”, International Journal of Sustainable Transportation, accepted, 2019.
    
    
23.  M. Ryalat, D. S. Laila, H. ElMoaqet and N. Almtireen, “Dynamic IDA-PBC Control for Weakly-Coupled Electromechanical
    Systems”, Automatica, provisionally accepted, 2019.

Refereed Conference Publications

1. D. Nešić, D. S. Laila and A. R. Teel, “On preservation of dissipation inequalities under sampling”, Proc. 39th IEEE Conference on Decision and Control, Sydney, Australia, vol. 3, pp. 2472-2477, 2000.
   
   
2.  D. S. Laila and D. Nešić, “A note on preservation of dissipation inequalities under sampling: the dynamic feedback case”, Proc. American Control Conference, Arlington, Virginia, vol.4, pp. 2822-2827, 2001.
   
   
3. D. Nešić and D. S. Laila, “Input-to-state stabilization for nonlinear sample-data systems via approximate discretetime plant models”, Proc. 40th IEEE Conference on Decision and Control, Orlando, Florida, pp. 887-892, 2001.
   
   
4. D. S. Laila and D. Nešić, “Changing supply rates for input-output to state stable discrete-time systems”, Proc. 15th IFAC World Congress, Barcelona, Spain, 2002.
   
   
5. D. S. Laila and D. Nešić, “Lyapunov based small-gain theorem for parameterized discrete-time interconnected ISS systems”, Proc. 41st IEEE Conference on Decision and Control, vol. 2, pp. 2292-2297, 2002.
   
   
6. D. S. Laila, “Integrated design of discrete-time controller for an active suspension system”, Proc. 42nd IEEE Conference on Decision and Control, Maui, Hawaii, vol. 6, pp. 6406-6411, 2003.
   
   
7. D. S. Laila and A. Astolfi, “Input-to-state stability for parameterized discrete-time time-varying nonlinear systems with applications”, Proc. 5th Asian Control Conference, Melbourne, Australia, 2004.
   
   
8. D. S. Laila and A. Astolfi, “A note on discrete-time stabilization of Hamiltonian systems”, Proc. 6th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Stuttgart, Germany, 2004.
   
   
9. D. S. Laila and A. Astolfi, “Discrete-time time-varying robust stabilization for systems in power form”, Proc. 16th IFAC World Congress, Prague, 2005.
   
   
10. D. S. Laila and A. Astolfi, “Discrete-time IDA-PBC design for separable Hamiltonian systems”, Proc. 16th IFAC World Congress, Prague, 2005.
    
    
11. D. S. Laila and A. Astolfi, “Discrete-time IDA-PBC design for underactuated Hamiltonian systems”, Proc. 25th American Control Conference, Minneapolis, 2006.
    
    
12. D. S. Laila and A. Astolfi, “Sampled-data observer design for a class of nonlinear systems with applications”, Proc. 17th International Symposium on Mathematical Theory of Networks and Systems (MTNS), Kyoto, 2006.
    
    
13. A. Bakri-Kasbah, A. Astolfi and D. S. Laila, “A modified Branin method”, Proc. 17th International Symposium on Mathematical Theory of Networks and Systems (MTNS), Kyoto, 2006.
    
    
14. D. S. Laila and A. Astolfi, “Direct discrete-time design for sampled-data Hamiltonian control systems”, Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC’06), Nagoya, 2006.
    
    
15. D. S. Laila, A. Astolfi and S. Girinatha, “Discretization and discrete-time design for sampled-data Hamiltonian control systems”, Proc. 6th Asian Control Conference (ASCC), Bali, 2006.
    
    
16. D. S. Laila, M. Lovera and A. Astolfi, “Numerical algorithm as an observer for spacecraft attitude determination”, Proc. 45th IEEE Conference on Decision and Control, San Diego, California, 2006.
    
    
17.  D. S. Laila, E. Grünbacher and L. del Re, “Discrete-time model reference controller design for a combustion
    engine test bench”, In Proc. 7th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Pretoria, 2007.
    
    
18. D. S. Laila and E. Grünbacher, “Discrete-time control design for set point tracking of a combustion engine test bench”, Proc. 46th IEEE Conference on Decision and Control, New Orleans, Louisiana, 2007.
    
    
19. D. S. Laila and E. Grünbacher, “Nonlinear observer and output feedback design for a combustion engine test bench”, Proc. 17th IFAC World Congress, Seoul, 2008.
    
    
20. M. Lasslberger, E. Grünbacher and D. S. Laila, “Data based modeling of a PEM fuel cell for control design purposes”, Proc. 2008 IEEE Multi-Conference on Systems and Control, San Antonio, 2008.
    
    
21. D. S. Laila and E. Grünbacher, “Discrete-time nonlinear observer and output feedback design for a combustion engine test bench”, Proc. 47th IEEE Conference on Decision and Control, Cancun, 2008.
    
    
22. D. S. Laila, A. R. Messina and B. C. Pal, “Generalized Hilbert-Huang transform with applications to power signals oscillation analysis”, Proc. 2009 IEEE Power and Energy Soc. General Meeting, Calgary, 2009.
    
    
23. D. S. Laila, M. Larsson, B. C. Pal and P. Korba, “Nonlinear damping computation and envelope detection using Hilbert transformand its application to power systems wide areamonitoring”, Proc. 2009 IEEE Power and Energy Soc. General Meeting, Calgary, 2009.
    
    
24. M. Larsson and D. S. Laila, “Monitoring of inter-area oscillations under ambient conditions using subspace identification”,
    Proc. 2009 IEEE Power and Energy Soc. General Meeting, Calgary, 2009.
25. S. B. Ayati, A. Ordys, G. Collier and D. S. Laila, “Development of simulation and control systems for automated test driving”, Proc. 2009 International Conf. on Systems Engineering, Coventry, 2009.
    
    
26. D. S. Laila, “A note on human body weight dynamics and control based on the macronutrient and energy flux balance”, Proc. 2010 American Control Conference, Baltimore, Maryland, 2010.
    
    
27. P. Syakouri, A. Ordys, M. Askari and D. S. Laila, “Longitudinal vehicle dynamics using Simulink/Matlab”, 2010 UKACC Conference, Coventry, 2010.
    
    
28. P. Rumschinski, D. S. Laila, S. Borcher and R. Findeisen, “Influence of discretization errors on set-based parameter estimation”, Proc. 49th IEEE Conference on Decision and Control, 2010.
    
    
29. P. Rumschinski, D. S. Laila and R. Findeisen, “Set-based parameter estimation for symmetric network motifs”, Proc. 18th IFAC World Congress, Milan, 2011.
    
    
30. P. Syakouri, A. Ordys, D. S. Laila and M. Askari, “Adaptive cruise control system: Comparing gain-scheduling PI and LQ controllers”, Proc. 18th IFAC World Congress, Milan, 2011.
    
    
31. D. S. Laila, E. M. Navaro-Lopez and A. Astolfi “Sampled-data adaptive control for nonlinear systems with parametric
    uncertainties”, Proc. 18th IFAC World Congress, Milan, 2011.
    
    
32. P. Rumschinski, D. S. Laila and R. Findeisen, “Discrete-to-continuous dynamics reconstruction for bilinear systems,”
    Proc. 51st IEEE Conference on Decision and Control, Maui, Hawaii, 2012.
    
    
33. M. Ryalat and D. S. Laila, “IDA-PBC design for a rotational inverted pendulum” Proc. 52nd IEEE Conference on Decision and Control, Florence, Italy, 2013.
    
    
34. L.Wollatz, R. Gallo, D. S. Laila, T. C. Ofoegbu, E. Kovalan, S. Sharkh and K. Thomas, “Design of Control Functions for an Internet-Based Tele-Robotic Laboratory”, Proc. European Control Conference, Strasbourg, France, 2014.
    
    
35. E. H. Copur, C. T. Freeman, B. Chu and D. S. Laila, “Repetitive control based tremor suppression using electrical stimulation,” Proc. UKACC International Conference on Control, Loughborough, UK, 2014.
    
    
36. G. Cannella, D. S. Laila and C. T. Freeman, “Hybrid Adaptive Low Cost Device For FES Stroke Rehabilitation”, Proc. International Workshop and Summer School on Medical and Service Robotics (MESROB), Lausanne, Switzerland, 2014.
    
    
37. G. Cannella, D. S. Laila and C. T. Freeman, “Adaptive Low Cost Gravity Balanced Orthosis”, Proc. Multibody Mechatronic Systems (MUSME), Huatulco, Mexico, 2014.
    
    
38. M. Kutlu, C. T. Freeman, E. Hallewell, A-M. Hughes and D. S. Laila, “Electrode-Array Based Functional Electrical Stimulation for Upper-Limb Stroke Rehabilitation with Innovative Sensing and Control”, Conference of Technically Assisted Rehabilitation, Berlin, Germany, 2015.
    
    
39. M. Ryalat, D. S. Laila and M. M. Torbati, “Integral IDA-PBC and PID-like Control for Port-Controlled Hamiltonian Systems” Proc. American Control Conference, Chicago, 2015.
    
    
40. J. Sowman, D. S. Laila, A. J. Cruden, P. Fussey and A. Truscott, “A Predictive Control Approach to Diesel Selective Catalytic Reduction”, Proc. European Control Conference, Linz, Austria, 2015.
    
    
41. M. Kutlu, C. T. Freeman, E.Hallewell, A-M.Hughes and D. S. Laila, “FES-based Upper-Limb Stroke Rehabilitation with Advanced Sensing and Control”, Proc. Int. Conf. on Rehabilitation Robotics, Singapore, 2015.
    
    
42. J. Sowman, D. S. Laila, A. J. Cruden and P. Fussey, “Nonlinear Model Predictive Control for Cold Start Selective Catalytic Reduction”, Proc. IFAC Conf. on Nonlinear Model Predictive Control, Seville, Spain, 2015.
    
    
43. J. Sowman, D. S. Laila and S. Longo, “Real-Time Approximate Explicit Nonlinear Model Predictive Control for the Swing-Up of a Reaction Wheel Pendulum”, Proc. 54th IEEE Conference on Decision and Control, Osaka,
    2015.
    
    
44. E. H. Copur, C. T. Freeman, B. Chu and D. S. Laila, “FES Based Tremor Suppression using Repetitive Control”, Proc. 54th IEEE Conference on Decision and Control, Osaka, 2015.
    
    
45. J. Guzman-Guemez, D. S. Laila and S. M. Sharkh, “State-Space approach for Modelling and Control of a Single- Phase Three-Level NPC Inverter with SVPWM”, Proc. IEEE PES General Meeting, Boston, 2016.
    
    
46. J. Sowman, D. S. Laila, A. Truscott, P. Fussey and A. J. Cruden, “Real-Time Rejection of Ammonia Cross Sensitivity in Sensors for Diesel Aftertreatment Systems by Parallel Particle Filtering”, Proc. European Control Conference,
    Aalborg, Denmark, 2016.
    
    
47. E. Elarbi, D. S. Laila, A. A. Ghmmam and N. M. Horri, “LQR Autopilot Control of Boeing 747-100 Longitudinal Perturbation as CG Shifts”, 6th Int. Conf. Advanced Technology & Sciences, Riga, Latvia, 2017.
    
    
48. J. Sowman, D. S. Laila, P. Fussey, A. Truscott and A. Cruden, “Non-linear MPC applied to multivariable thermal and chemical control of SCR after treatment”, Third Symposium for Combustion Control, Aachen, 2017.
    
    
49. M. Ryalat, D. S. Laila, N. Almtireen and H. ElMoaqet, “A novel dynamic IDA-PBC controller for electrostatic
    MEMS device”, American Control Conference, Milwaukee, WI, USA, 2018.
    
    
50. O. Agbaje, D. S. Laila and O. C. Haas, “Analysis of One-Sided Krylov Subspace Model Order Reduction for Nonlinear and Bilinear Systems”, Proc. European Control Conference, Limassol, Cyprus 2018.
    
    
51. I. Manarikkal, F. Elasha, D. S. Laila and D. Mba, “Dynamic Modelling of Planetary Gearboxes with Cracked Tooth Using Vibrational Analysis”, Int. Conf. on Condition Monitoring of Machinery in Non-Stationary Operations,
    Santander, Spain, 2018.

Books and/or Book Chapters

1. D. S. Laila, D. Nešić and A. Astolfi, “Sampled-Data Control of Nonlinear Systems”, in Advanced Topics in Control Systems Theory II, Lecture Notes in Control and Information Sciences Vol. 328 (Editors: A. Loria, F. Lamnabhi-
   Lagarrigue, E. Panteley), pp. 91-137, Springer, 2006. [95 citations]
   
   
2. D. S. Laila and A. Astolfi, “Direct discrete-time design for sampled-data Hamiltonian control systems”, in Lagrangian and Hamiltonian Methods for Nonlinear Control 2006, Lecture Notes in Control and Information Science
   Vol. 366 (Editors: F. Bullo and K. Fujimoto), pp.89-102, Springer, 2007.
   
   
3. D. S. Laila, A. R. Messina and B. C. Pal, “Generalized Hilbert-Huang Transform with Applications”, in Analysis of Nonlinear, Non-Stationary Inter-Area Oscillations: A Time-Frequency Perspective (Editor: A. R. Messina), Springer,
   2009.
   
   
4. G. Cannella, D. S. Laila and C. T. Freeman, “Design of a Hybrid Adaptive Support Device For FES Upper Limb Stroke Rehabilitation”, in New Trends in Medical Service Robots, Springer, 2015.
   
   
5. I. Manarikkal, F. Elasha, D. S. Laila and D. Mba, “Dynamic Modelling of Planetary Gearboxes with Gear Tooth Defect using Vibration Analysis”, in Advances in Condition Monitoring of Machinery in Non-Stationary Operations, Springer, 2018.

Conference Abstracts

1. D. S. Laila and D. Nešić, “Changing supply rates for input-output to state stable discrete-time nonlinear systems with applications”, in Book of Abstracts of Australian East Coast Conference on Signals, Networks and Systems,
   Canberra, pp. 28, 2001.
   
   
2. D. S. Laila, J. Steele-Davies, T. J. Hunt, A. N. Field, O. Bills, L. Chen-Wilson, T. C. Ofoegbu, L.Wollatz, R. Gallo, E. Kovalan, E. Northrop, S. M. Sharkh and P.White, “Internet application for flexible learning of control engineering
   and robotics”, HEA Annual Conference, Birmingham, 2014.
   
   
3. G. Cannella, D. S. Laila and C. T. Freeman, “Design of an adaptive affordable orthosis for upper limb stroke rehabilitation”, SET for Britain, 2014.
   
   
4. M. Kutlu, C.T. Freeman, E. Hallewell, A-M. Hughes and D.S. Laila, “Goal-oriented upper limb stroke rehabilitation utilising FES with advanced sensing and control”, SET for Britain, 2015.
   
   
5. M. Kutlu, C.T. Freeman, E. Hallewell, A-M. Hughes and D. S. Laila, “Upper Limb Stroke Rehabilitation combining Electrode-Arrays with Low-cost Sensing and Advanced Control”, IFESSUKI, 2015.
   
   
6. M. Riyansyah, P. B. Wijayanto, B. R. Trilaksono, S. A. Putra, D. S. Laila, “Real time bridge dynamic response: Bridge condition assessment and early warning system” ISIC2019, Nottingham, 2019.

Other Publications

1. D. S. Laila, “Kontrol Visual Berbasis Citra untuk Manipulator Planar Dua Derajat Kebebasan” (Image Based Visual Control for Two Degree of Freedom Planar Manipulator), Undergraduate Final Project, ITB, 1995 (lang:
   Indonesian).
   
   
2. D. S. Laila, “Kontrol visual berbasis citra untuk manipulator planar dua derajat kebebasan” (Image Based Visual Control for Two Degree of Freedom Planar Manipulator), Sistem Kendali Magazine, vol.2, no.1, June 1998 (lang:
   Indonesian).
   
   
3. D. S. Laila, “Optimization for Solving the AGVs Systems Dispatching Problem: A Comparative Study Using Genetic Algorithms, Simulated Annealing and Enumeration Methods”,Master Thesis, ITB, 1998 (lang: Indonesian,
   transl. from a report of the author’s graduate research conducted in Kyoto University, 1998).
   
   
4. D. S. Laila, “Optimisasi penyelesaian masalah dispatching sistem automated guided vehicles menggunakan algoritma genetik” (Optimization for Solving the AGVs Systems Dispatching Problem Using Genetic Algorithms),
   Proc. WECI III, March 1999 (lang: Indonesian).
   
   
5. D. S. Laila, “Design and Analysis of Nonlinear Sampled Data Control Systems”, PhD Thesis, Melbourne University,
   2003.