Dr Pablo Borja
Profiles

Dr Pablo Borja

Lecturer in Control Systems Engineering

School of Engineering, Computing and Mathematics (Faculty of Science and Engineering)

Biography

Biography

From October to December 2015, I was a visiting Ph.D. student at the Institute of Cyber-Systems and Control at Zhejiang University, Hangzhou, China. From January to February 2016, I was a visiting Ph.D. student at the Johann Bernoulli Institute at the University of Groningen, The Netherlands.  From 2017 to 2018, I was a postdoctoral researcher member of the Engineering and Technology Institute Groningen (ENTEG) at the University of Groningen, The Netherlands. From 2018 to 2021, I was a fellow of the Faculty of Science and Engineering and an ENTEG member at the University of Groningen. From 2021 to 2022, I was a postdoctoral researcher in the department of Cognitive Robotics at the Delft University of Technology, The Netherlands. Since October 2022, I have been a lecturer in Control Systems Engineering at the University of Plymouth, U.K.

Qualifications

  • Ph. D. in Automatique (Control Systems), Paris-Saclay University, France, 2017.
  • Master's in Electrical Engineering, specializing in Control Systems, National Autonomous University of Mexico (UNAM), Mexico, 2014.
  • Bachelor's in Electrical and Electronic Engineering, National Autonomous University of Mexico (UNAM), Mexico, 2011.

Professional membership

I am a member of the following societies:

  • IEEE
  • IEEE Young Professionals
  • IEEE Control Systems Society (CSS)
  • IEEE Robotics and Automation Society (RAS)
  • International Federation of Automatic Control (IFAC)

Additionally, I am a corresponding member of the (IFAC) technical committee on Non-linear Control Systems (TC2.3).

Teaching

Teaching

Teaching interests

During the academic year 2022/2023, I am teaching the following courses:

CONT222 Engineering Mathematics and Control (Control part)

MECH556 Autonomy Principles and Ethics


Previously, I was:

One of the lecturers of Mechatronics at the University of Groningen from 2018 to 2021.
The teaching assistant of Modeling and control of complex nonlinear engineering systems at the University of Groningen from 2018 to 2021.

Research

Research

Research interests

My research interests encompass the following topics:

  • Nonlinear control methodologies and their applications, with an emphasis on physical systems.
  • Modeling of complex physical systems. In particular, energy-based models.
  • Dissipativity/passivity theory and passivity-based control.
  • Control applications in robotics.
  • Soft robotics.
  • Model reduction.


Publications

Publications

Key publications

Key publications are highlighted

Journals

  • [J10] P. Pustina, P. Borja, C. Della Santina, and A. De Luca “P-satI-D Shape Regulation of Soft Robots” IEEE Robotics and Automation Letters, 2023, vol. 8, no. 1, pp. 1-8.
  • [J09] P. Borja, C. Della Santina, and A. Dabiri “On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems” IEEE Control Systems Letters, 2022, vol. 6, no. -, pp. 3433-3438.
  • [J08] P. Borja, J. M. A. Scherpen, and K. Fujimoto “Extended balancing of continuous LTI systems: a structure-preserving approach” IEEE Transactions on Automatic Control, 2023 vol. 68, no. 1, pp. 257-271.
  • [J07] C. Chan-Zheng, P. Borja, and J. M. A. Scherpen “Tuning rules for a class of passivity-based controllers for mechanical systems” IEEE Control Systems Letters, 2021, vol. 5, no. 6, pp. 1892-1897.
  • [J06] K. Hamada, P. Borja, J. M. A. Scherpen, K. Fujimoto, and I. Maruta “Passivity-based lag-compensators with input saturation for mechanical port-Hamiltonian systems without velocity measurements” IEEE Control Systems Letters, 2021, vol. 5, no. 4, pp. 1285-1290.
  • [J05] P. Borja, R. Ortega, and J. M. A. Scherpen “New results on stabilization of port-Hamiltonian systems via PID passivity-based control”. IEEE Transactions on Automatic Control, 2021, vol. 66, no. 2, pp. 625-636.
  • [J04] J. G. Romero, A. Donaire, R. Ortega, and P. Borja “Global stabilisation of underactuated mechanical systems via PID passivity-based control”. Automatica, 2018, vol. 96, p. 178-185.
  • [J03] M. Zhang, P. Borja, R. Ortega, Z. Liu, and H. Su “PID Passivity-based control of port-Hamiltonian systems”. IEEE Transactions on Automatic Control, 2018, vol. 63, no. 4, p. 1032-1044.
  • [J02] P. S. Gandhi, P. Borja, and R. Ortega “Energy shaping control of an inverted flexible pendulum fixed to a cart.” Control Engineering Practice, 2016, vol. 56, p. 27-36.
  • [J01] P. Borja, R. Cisneros, and R. Ortega “A constructive procedure for energy shaping of port-Hamiltonian systems”. Automatica, 2016, vol. 72, p. 230-234.

Articles
Borja P, Chan-Zheng C & Scherpen JMA (2023) 'Stabilization of Physical Systems via Saturated Controllers With Partial State Measurements' IEEE Transactions on Control Systems Technology 1-15 , DOI Open access
Chan-Zheng C, Borja P & Scherpen JMA (2023) 'Tuning of Passivity-Based Controllers for Mechanical Systems' IEEE Transactions on Control Systems Technology 1-0 , DOI Open access
Li N, Borja P, Scherpen JMA, Schaft AVD & Mahony R (2023) 'Passivity-Based Trajectory Tracking and Formation Control of Nonholonomic Wheeled Robots Without Velocity Measurements' IEEE Transactions on Automatic Control 1-8 , DOI Open access
Borja P, Scherpen JMA & Fujimoto K (2023) 'Extended Balancing of Continuous LTI Systems: A Structure-Preserving Approach' IEEE Transactions on Automatic Control 68, (1) 257-271 , DOI
Chan-Zheng C, Borja P & Scherpen JMA (2023) 'Dead-zone compensation via passivity-based control for a class of mechanical systems' IFAC-PapersOnLine 56, (1) 319-324 , DOI Open access
Borja P, Ferguson J & van der Schaft A (2023) 'Interconnection Schemes in Modeling and Control' IEEE Control Systems Letters 7, 2287-2292 , DOI Open access
Pustina P, Borja P, Santina CD & De Luca A (2022) 'P-satI-D Shape Regulation of Soft Robots' IEEE Robotics and Automation Letters 8, (1) 1-8 , DOI Open access
Javanmardi N, Borja P, Yazdanpanah MJ & Scherpen JMA (2022) 'Distributed formation control of networked mechanical systems' IFAC-PapersOnLine 55, (13) 294-299 , DOI
Borja P, Santina CD & Dabiri A (2022) 'On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems' IEEE Control Systems Letters 6, 3433-3438 , DOI
Chan-Zheng C, Borja P & Scherpen JMA (2021) 'Tuning Rules for a Class of Passivity-Based Controllers for Mechanical Systems' IEEE Control Systems Letters 5, (6) 1892-1897 , DOI
Hamada K, Borja P, Scherpen JMA, Fujimoto K & Maruta I (2021) 'Passivity-Based Lag-Compensators With Input Saturation for Mechanical Port-Hamiltonian Systems Without Velocity Measurements' IEEE Control Systems Letters 5, (4) 1285-1290 , DOI
Borja P, Ortega R & Scherpen JMA (2021) 'New Results on Stabilization of Port-Hamiltonian Systems via PID Passivity-Based Control' IEEE Transactions on Automatic Control 66, (2) 625-636 , DOI
Li N, Borja P, van der Schaft A, Scherpen JMA & Chen L (2021) 'Angle formation of double integrator with bearing and velocity information' IFAC-PapersOnLine 54, (19) 217-222 , DOI
Hamada K, Borja P, Fujimoto K, Maruta I & Scherpen JMA (2021) 'On Passivity-Based High-Order Compensators for Mechanical Port-Hamiltonian Systems Without Velocity Measurements' IFAC-PapersOnLine 54, (14) 287-292 , DOI
Chan-Zheng C, Borja P & Scherpen JMA (2021) 'Passivity-based control of mechanical systems with linear damping identification' IFAC-PapersOnLine 54, (19) 255-260 , DOI
Romero JG, Donaire A, Ortega R & Borja P (2018) 'Global stabilisation of underactuated mechanical systems via PID passivity-based control' Automatica 96, 178-185 , DOI
Zhang M, Borja P, Ortega R, Liu Z & Su H (2018) 'PID Passivity-Based Control of Port-Hamiltonian Systems' IEEE Transactions on Automatic Control 63, (4) 1032-1044 , DOI
Borja P, Ortega R & Nuño E (2018) 'New results on PID passivity-based controllers for port-Hamiltonian systems' IFAC-PapersOnLine 51, (3) 175-180 , DOI
Romero JG, Donaire A, Ortega R & Borja P (2017) 'Global Stabilisation of Underactuated Mechanical Systems via PID Passivity-Based Control' IFAC-PapersOnLine 50, (1) 9577-9582 , DOI
Gandhi PS, Borja P & Ortega R (2016) 'Energy shaping control of an inverted flexible pendulum fixed to a cart' Control Engineering Practice 56, 27-36 , DOI
Borja P, Cisneros R & Ortega R (2016) 'A constructive procedure for energy shaping of port—Hamiltonian systems' Automatica 72, 230-234 , DOI
Macchelli A, Borja LP & Ortega R (2015) 'Control by Interconnection of Distributed Port-Hamiltonian Systems Beyond the Dissipation Obstacle' IFAC-PapersOnLine 48, (13) 99-104 , DOI
Books

[B01] R. Ortega, J. G. Romero, P. Borja, and A. Donaire. PID passivity-based control of nonlinear systems with applications. Wiley-IEEE Press, 2021. ISBN 978-1-119-69416-8.

Ortega R, Romero JG, Borja P & Donaire A (2021) PID Passivity‐Based Control of Nonlinear Systems with Applications. Wiley , DOI
Chapters

[BC01] R. Ortega and P. Borja “Passivity-based control” Encyclopedia of Systems and Control, Baillieul J., Samad T. (eds). 2021 Edition, pp. 1684–1691. Springer, London. DOI:10.1007/978-3-030-44184-5.

Ortega R & Borja P (2019) 'Passivity-Based Control' Encyclopedia of Systems and Control Springer London 1-7 , DOI
Conference Papers

  • [C19] C. Chan-Zheng, P. Borja, and J. M. A. Scherpen “Dead-zone compensation via passivity-based control for a class of mechanical systems” 12th IFAC Symposium on Nonlinear Control Systems, 2023.
  • [C18] T. Coleman, G. Franzese, and P. Borja “Damping design for robot manipulators” 15th International Workshop on Human-friendly Robotics, 2022.
  • [C17] N. Javanmardi, P. Borja, M. J. Yazdanpanah, and J. M. A. Scherpen “Distributed formation control of networked mechanical systems” IFAC Conference on Networked Systems (NECSYS), 2022.
  • [C16] P. Borja, A. Dabiri, and C. della Santina “Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity” RoboSoft, 2022.
  • [C15] P. Borja, J. L. van der Veen, and J. M. A. Scherpen “Trajectory tracking for robotic arms with input saturation and only position measurements”. IEEE 60th Annual Conference on Decision and Control (CDC), 2021.
  • [C14] N. Li, P. Borja, A. J. van der Schaft, J. M. A. Scherpen, and L. Chen “Angle formation of double integrator with bearing and velocity information” 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2021.
  • [C13] C. Chan-Zheng, P. Borja, and J. M. A. Scherpen “Passivity-based control of mechanical systems with linear damping identification” 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2021.
  • [C12] K. Hamada, P. Borja, K. Fujimoto, I. Maruta, and J. M. A. Scherpen “On Passivity-Based High-Order Compensators for Mechanical Port-Hamiltonian Systems Without Velocity Measurements” 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, 2021.
  • [C11] C. Chan-Zheng, P. Borja, N. Monshizadeh, and J. M. A. Scherpen “Exponential stability and tuning for a class of mechanical systems”. European Control Conference (ECC), 2021.
  • [C10] D. Jeltsema and P. Borja “On linearity, phasors and steady–state response of electrical circuits” 12th International Conference and Exhibition on Electrical Power Quality and Utilisation, 2020, Krakow, Poland.
  • [C09] T. C. Wesselink, P. Borja and J. M. A. Scherpen “Saturated control without velocity measurements for planar robots with flexible joints.” IEEE 58th Annual Conference on Decision and Control (CDC), 2019, pp. 7093-7098, Nice, France.
  • [C08] R. Reyes-Báez, P. Borja, A. J. van der Schaft, and B. Jayawardhana “Virtual mechanical systems: an energy-based approach” Congreso Nacional de Control Automático (CNCA), 2019, pp. , 465–470, Puebla, Mexico.
  • [C07] P. Borja and J. M. A. Scherpen “Stabilization of a class of passive systems using alternate storage functions.” IEEE 57th Annual Conference on Decision and Control (CDC), 2018, pp. 5634-5639, Miami Beach, Florida, USA.
  • [C06] P. Borja, R. Ortega, and E. Nuño “New results on PID passivity-based controllers for port-Hamiltonian systems.” 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2018, pp. 175–180, Valparaı́so, Chile.
  • [C05] J. G. Romero, A. Donaire, R. Ortega, and P. Borja “Global stabilisation of underactuated mechanical systems via PID passivity-based control”. 21st IFAC World Congress, 2017, pp. 9577–9582, Toulouse, France.
  • [C04] A. Macchelli, P. Borja, and R. Ortega “Control by interconnection of distributed port-Hamiltonian systems beyond the dissipation obstacle.” 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2015, pp. 99–104, Lyon, France.
  • [C03] P. Borja, R. Cisneros, and R. Ortega “Shaping the energy of port-Hamiltonian systems without solving PDEs.” IEEE 54th Annual Conference on Decision and Control (CDC), 2015, pp. 5713–5718, Osaka, Japan.
  • [C02] R. Ortega and P. Borja “New results on control by interconnection and energy-balancing passivity-based control of port-Hamiltonian systems.” IEEE 53rd Annual Conference on Decision and Control (CDC), 2014, pp. 2346–2351, Los Angeles, California, USA.
  • [C01] P. Borja and G. Espinosa. “Seguimiento de trayectorias para sistemas mecánicos subactuados vı́a IDA-PBC.” Congreso Nacional de Control Automático (CNCA), 2013, pp. 17–23, Ensenada, Baja California, Mexico.

Coleman T, Franzese G & Borja P (2023) 'Damping Design for Robot Manipulators' Springer International Publishing 74-89 , DOI
Borja P, Dabiri A & Santina CD (2022) 'Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity' 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) 4-/-0/20224-/-0/2022IEEE , DOI
Borja P, van der Veen J & Scherpen JMA (2021) 'Trajectory Tracking for Robotic Arms with Input Saturation and Only Position Measurements' 2021 60th IEEE Conference on Decision and Control (CDC) 2-/-1/20212-/-1/2021IEEE , DOI
Chan-Zheng C, Borja P, Monshizadeh N & Scherpen JMA (2021) 'Exponential Stability and Tuning for a Class of Mechanical Systems' 2021 European Control Conference (ECC) 6-/-0/20217-/-0/2021IEEE , DOI
Hamada K, Borja P, Scherpen JMA, Fujimoto K & Maruta I (2021) 'Passivity-Based Lag-Compensators with Input Saturation for Mechanical Port-Hamiltonian Systems Without Velocity Measurements' 2021 American Control Conference (ACC) 5-/-0/20215-/-0/2021IEEE , DOI
Chan-Zheng C, Borja P & Scherpen JMA (2021) 'Tuning Rules for a Class of Passivity-Based Controllers for Mechanical Systems' 2021 American Control Conference (ACC) 5-/-0/20215-/-0/2021IEEE , DOI
Jeltsema D & Borja P (2020) 'On Linearity, Phasors and Steady-State Response of Electrical Circuits' 2020 12th International Conference and Exhibition on Electrical Power Quality and Utilisation- (EPQU) 9-/-0/20209-/-0/2020IEEE , DOI
Wesselink TC, Borja P & Scherpen JMA (2019) 'Saturated control without velocity measurements for planar robots with flexible joints' 2019 IEEE 58th Conference on Decision and Control (CDC) 2-/-1/20192-/-1/2019IEEE , DOI
Borja P & Scherpen JMA (2018) 'Stabilization of a Class of Cyclo-Passive Systems Using Alternate Storage Functions' 2018 IEEE Conference on Decision and Control (CDC) 2-/-1/20182-/-1/2018IEEE , DOI
Borja P, Cisneros R & Ortega R (2015) 'Shaping the energy of port-Hamiltonian systems without solving PDE's' 2015 54th IEEE Conference on Decision and Control (CDC) 2-/-1/20152-/-1/2015IEEE , DOI
Ortega R & Borja LP (2014) 'New results on Control by Interconnection and Energy-Balancing Passivity-Based Control of port-hamiltonian systems' 2014 IEEE 53rd Annual Conference on Decision and Control (CDC) 2-/-1/20142-/-1/2014IEEE , DOI
Personal

Personal

Conferences organised

I have been the (co-)organizer of the following events:

  • The workshop titled "Energy-based modeling and control of mechanical systems: theory and applications" at the 61st IEEE Conference on Decision and Control (CDC). The conference took place in Cancun, Mexico, in December 2022. Check the websites https://cdc2022.ieeecss.org/ and https://sites.google.com/view/energy-based-methods-cdc2022/home.
  • The 15th International Workshop on Human-Friendly Robotics, which took place in Delft, The Netherlands, in September 2022. Check the website https://sites.google.com/view/hfr2022/home.
  • The invited session "Passivity Based Control of Mechanical and Electromechanical Systems" at the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNC). The conference took place in Berlin, Germany, in October 2021. Check the website https://lhmnlc21.org/.

Other academic activities

I have been the (co-)chairman of the following sessions at international conferences:

  • (Chairman) "Passivity Based Control of Mechanical and Electromechanical Systems" at the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNC). Berlin, Germany, 2021.
  • (Chairman) "Geometry" at the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNC). Berlin, Germany, 2021.
  • (Co-chairman) "Passivity-based control" at the 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON). Tokyo, Japan, 2021 (virtual).
  • (Co-chairman) "Stability of Nonlinear Systems" at the American Control Conference (ACC). New Orleans, Louisiana, USA, 2021 (virtual).

Additionally, I was the chairman of the following sessions:

  • "Nonlinear & Hybrid Control Systems II" at the 39th Benelux Meeting on Systems and Control. Elspeet, The Netherlands, 2020.
  • "Nonlinear Control B" at the 37th Benelux Meeting on Systems and Control. Soesterberg, The Netherlands.

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