Bio


Chris Gerdes is a Professor of Mechanical Engineering at Stanford University, Director of the Center for Automotive Research at Stanford (CARS) and Director of the Revs Program at Stanford. His laboratory studies how cars move, how humans drive cars and how to design future cars that work cooperatively with the driver or drive themselves. When not teaching on campus, he can often be found at the racetrack with students, instrumenting historic race cars or trying out their latest prototypes for the future. Vehicles in the lab include X1, an entirely student-built test vehicle, and Shelley, an Audi TT-S capable of turning a competitive lap time around the track without a human driver. Professor Gerdes and his team have been recognized with a number of awards including the Presidential Early Career Award for Scientists and Engineers, the Ralph Teetor award from SAE International and the Rudolf Kalman Award from the American Society of Mechanical Engineers.

Academic Appointments


Honors & Awards


  • Frederick Emmons Terman Fellowship, Stanford University (1998-2001)
  • CAREER Award, National Science Foundation
  • Best Paper Award, 6th International Symposium on Advanced Vehicle Control (AVEC) (2002)
  • Presidential Early Career Award for Scientists and Engineers, National Science Foundation (2002)

Professional Education


  • PhD, UC Berkeley, Mechanical Engineering (1996)

2014-15 Courses


Postdoctoral Advisees


All Publications


  • An analytical method for reducing combustion instability in homogeneous charge compression ignition engines through cycle-to-cycle control INTERNATIONAL JOURNAL OF ENGINE RESEARCH Jungkunz, A. F., Ravi, N., Liao, H., Erlien, S. M., Gerdes, J. C. 2015; 16 (3): 485-500
  • Designing Steering Feel for Steer-by-Wire Vehicles Using Objective Measures IEEE-ASME TRANSACTIONS ON MECHATRONICS Balachandran, A., Gerdes, J. C. 2015; 20 (1): 373-383
  • A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Hindiyeh, R. Y., Gerdes, J. C. 2014; 136 (5)

    View details for DOI 10.1115/1.4027471

    View details for Web of Science ID 000340615600015

  • Hybrid Model Predictive Control of Exhaust Recompression Hcci ASIAN JOURNAL OF CONTROL Widd, A., Liao, H., Gerdes, J. C., Tunestal, P., Johansson, R. 2014; 16 (2): 370-381

    View details for DOI 10.1002/asjc.725

    View details for Web of Science ID 000332412100006

  • Incorporating Non-Linear Tire Dynamics into a Convex Approach to Shared Steering Control 2014 AMERICAN CONTROL CONFERENCE (ACC) Erlien, S. M., Funke, J., Gerdes, J. C. 2014: 3468-3473
  • Low Friction Emulation of Lateral Vehicle Dynamics Using Four-Wheel Steer-by-Wire 2014 AMERICAN CONTROL CONFERENCE (ACC) Russell, H. E., Gerdes, J. C. 2014: 3924-3929
  • Multicylinder HCCI Control With Coupled Valve Actuation Using Model Predictive Control JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Erlien, S. M., Jungkunz, A. F., Gerdes, J. C. 2013; 135 (5)

    View details for DOI 10.1115/1.4024299

    View details for Web of Science ID 000326090400018

  • Model Predictive Control for Vehicle Stabilization at the Limits of Handling IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY Beal, C. E., Gerdes, J. C. 2013; 21 (4): 1258-1269
  • Staying within the nullcline boundary for vehicle envelope control using a sliding surface VEHICLE SYSTEM DYNAMICS Bobier, C. G., Gerdes, J. C. 2013; 51 (2): 199-217
  • Control of recompression HCCI with a three region switching controller CONTROL ENGINEERING PRACTICE Liao, H., Widd, A., Ravi, N., Jungkunz, A. F., Kang, J., Gerdes, J. C. 2013; 21 (2): 135-145
  • MULTI-CYLINDER HCCI CONTROL WITH CAM PHASER VARIABLE VALVE ACTUATION USING MODEL PREDICTIVE CONTROL PROCEEDINGS OF THE ASME 5TH ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND JSME 11TH MOTION AND VIBRATION CONFERENCE, DSCC 2012, VOL 2 Erlien, S. M., Jungkunz, A. F., Gerdes, J. C. 2013: 823-831
  • SIMPLE CLOTHOID PATHS FOR AUTONOMOUS VEHICLE LANE CHANGES AT THE LIMITS OF HANDLING ASME 2013 DYNAMIC SYSTEMS AND CONTROL CONFERENCE, VOL. 3 Funke, J., Gerdes, J. C. 2013
  • USING A PATH-FITTING ALGORITHM TO ANALYZE THE RACING TECHNIQUES OF A SKILLED DRIVER ASME 2013 DYNAMIC SYSTEMS AND CONTROL CONFERENCE, VOL. 3 Mejia, J. P., Theodosis, P. A., Gerdes, J. C. 2013
  • NONLINEAR OPTIMIZATION OF A RACING LINE FOR AN AUTONOMOUS RACECAR USING PROFESSIONAL DRIVING TECHNIQUES PROCEEDINGS OF THE ASME 5TH ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND JSME 11TH MOTION AND VIBRATION CONFERENCE, DSCC 2012, VOL 1 Theodosis, P. A., Gerdes, J. C. 2013: 235-241
  • Modeling and Control of Exhaust Recompression HCCI SPLIT FUEL INJECTION FOR CYLINDER-INDIVIDUAL COMBUSTION CONTROL IEEE CONTROL SYSTEMS MAGAZINE Ravi, N., Liao, H., Jungkunz, A. F., Song, H. H., Gerdes, J. C. 2012; 32 (4): 26-42
  • Model predictive control of HCCI using variable valve actuation and fuel injection Ravi, N., Liao, H., Jungkunz, A. F., Widd, A., Gerdes, J. C. PERGAMON-ELSEVIER SCIENCE LTD. 2012: 421-430
  • Sliding Surface Vehicle Envelope Control: A Cooperative Design Between Controller and Envelope 2012 AMERICAN CONTROL CONFERENCE (ACC) Bobier, C. G., Gerdes, J. C. 2012: 6521-6526
  • Nonlinear optimization of a racing line for an autonomous racecar using professional driving techniques Theodosis, P., Gerdes, J. C. 2012
  • Modeling and control of exhaust recompression HCCI: split fuel injection for cylinder-individual combustion control IEEE Control Systems Magazine Ravi, N., Liao, H., Jungkunz, Adam, F., Song, H. H., Gerdes, J., Christian 2012; 4 (32): 26-42
  • Multi-Cylinder HCCI Control with Cam Phaser Variable Valve Actuation Using Model Predictive Control Erlien, S., Jungkunz, A., Gerdes, J., Christian 2012
  • Autonomous vehicle control at the limits of handling International Journal of Vehicle Autonomous Systems Kritayakirana, K., Gerdes, J., Christian 2012; 4 (10): 271-296
  • Using the center of percussion to design a steering controller for an autonomous race car Vehicle System Dynamics, 50 (Supplement) Kritayakirana, K., Gerdes, J., Christian 2012: 33-51
  • Analysis of Measured Racing Lines: A Path Primitive Based Curve Fitting Approach Koch, G., Kegelman, John, C., Gerdes, J., Christian 2012
  • Up to the Limits: Autonomous Audi TTS 2012 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) Funke, J., Theodosis, P., Hindiyeh, R., Stanek, G., Kritatakirana, K., Gerdes, C., Langer, D., Hernandez, M., Mueller-Bessler, B., Huhnke, B. 2012: 541-547
  • CONTROLLING VEHICLE INSTABILITY THROUGH STABLE HANDLING ENVELOPES PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE AND BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTROL (DSCC 2011), VOL 2 Beal, C. E., Bobier, C. G., Gerdes, J. C. 2012: 861-868
  • COMBUSTION PHASING VARIATION REDUCTION FOR LATE-PHASING HCCI THROUGH CYCLE-TO-CYCLE PILOT INJECTION TIMING CONTROL PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE AND BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTROL (DSCC 2011), VOL 2 Jungkunz, A. F., Ravi, N., Liao, H., Gerdes, J. C. 2012: 685-692
  • A CONTROLLER FRAMEWORK FOR AUTONOMOUS DRIFTING: DESIGN, STABILITY, AND EXPERIMENTAL VALIDATION PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE AND BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTROL (DSCC 2011), VOL 2 Hindiyeh, R. Y., Gerdes, J. C. 2012: 901-908
  • GENERATING A RACING LINE FOR AN AUTONOMOUS RACECAR USING PROFESSIONAL DRIVING TECHNIQUES PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE AND BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTROL (DSCC 2011), VOL 2 Theodosis, P. A., Gerdes, J. C. 2012: 853-860
  • Using the centre of percussion to design a steering controller for an autonomous race car Kritayakirana, K., Gerdes, J. C. TAYLOR & FRANCIS LTD. 2012: 33-51
  • Late Phasing Homogeneous Charge Compression Ignition Cycle-to-Cycle Combustion Timing Control With Fuel Quantity Input 2012 AMERICAN CONTROL CONFERENCE (ACC) Jungkunz, A. F., Erlien, S., Gerdes, J. C. 2012: 2078-2083
  • Modeling and Control of an Exhaust Recompression HCCI Engine Using Split Injection JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Ravi, N., Liao, H., Jungkunz, A. F., Chang, C., Song, H. H., Gerdes, J. C. 2012; 134 (1)

    View details for DOI 10.1115/1.4004787

    View details for Web of Science ID 000299123800016

  • Implementation and Analysis of a Repetitive Controller for an Electro-Hydraulic Engine Valve System IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY Liao, H., Roelle, M. J., Chen, J., Park, S., Gerdes, J. C. 2011; 19 (5): 1102-1113
  • Pushing the limits: From lanekeeping to autonomous racing ANNUAL REVIEWS IN CONTROL Talvala, K. L., Kritayakirana, K., Gerdes, J. C. 2011; 35 (1): 137-148
  • Control of Exhaust Recompression HCCI using Hybrid Model Predictive Control 2011 AMERICAN CONTROL CONFERENCE Widd, A., Liao, H., Gerdes, J. C., Tunestal, P., Johansson, R. 2011: 420-425
  • Combustion Phasing Variation Reduction for Late-phasing HCCI Through Cycle-to-cycle Pilot Injecion Timing Control Jungkuz, A., Ravi, N., Liao, H., Gerdes, J., Christian 2011
  • Driftkeeping: Path tracking at the friction limits using high sideslip cornering Hindiyeh, R., Gerdes, J., Christian 2011
  • Using the center of percussion to generate feedforward steering for an autonomous race car Kritayakirana, K., Gerdes, J., Christian 2011
  • Controlling Vehicle Instability Through Stable Handling Envelopes Beal, Craig, E., Bobier, Carrie, G., Gerdes, J., Christian 2011
  • Implementation and analysis of a repetitive controller for an electo-hydraulic engine valve system IEEE Transactions on Control Systems Technology Liao, H., Roelle, M., Chen, J., Park, S., Gerdes, J., Christian 2011; 5 (19): 1102-1113
  • A controller framework for autonomous drifting: Design, stability, and experimental validation Hindiyeh, R., Gerdes, J., Christian 2011
  • Model-Based Control of HCCI Engines Using Exhaust Recompression IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY Ravi, N., Roelle, M. J., Liao, H., Jungkunz, A. F., Chang, C., Park, S., Gerdes, J. C. 2010; 18 (6): 1289-1302
  • Estimation of Tire Slip Angle and Friction Limits Using Steering Torque IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY Hsu, Y. J., Laws, S. M., Gerdes, J. C. 2010; 18 (4): 896-907
  • Representing Recompression HCCI Dynamics with a Switching Linear Model 2010 AMERICAN CONTROL CONFERENCE Liao, H., Ravi, N., Jungkunz, A. F., Kang, J., Gerdes, J. C. 2010: 3803-3808
  • Experimental Validation of a Linear Model Predictive Envelope Controller in the Presence of Vehicle Nonlinearities Beal, Craig, E., Gerdes, J., Christian 2010
  • Controlling Combustion Phasing of Recompression HCCI with a Switching Controller Liao, H., Ravi, N., Jungkunz, A., Widd, A., Gerdes, J., Christian 2010
  • Mid-Ranging Control of a Multi-Cylinder HCCI Engine Using Split Fuel Injection and Valve Timings Ravi, N., Liao, H., Jungkunz, A., Gerdes, J., Christian 2010
  • Autonomous Cornering at the Limits: Maximizing a ‘g-g’ Diagram by Using Feedforward Trail-Braking and Throttle-On-Exit Kritayakirana, K., Gerdes, J., Christian 2010
  • Envelope Control: Stabilizing within the Limits of Handling Using a Sliding Surface Bobierand, C., Gerdes, J., Christian 2010
  • Autonomous Cornering at the Limits: Designing a Longitudinal Feedback Controller Using a Tire Slip Circle Kritayakirana, K., Gerdes, J., Christian 2010
  • Model based control of HCCI engines using exhaust recompression IEEE Transactions on Control Systems Technology Ravi, N., Liao, H., Jungkunz, Adam, F., Chang, C., Park, S., Gerdes, J., Christian 2010; 6 (18): 1289-1302
  • Design of a Dynamic Surface Controller for Vehicle Sideslip Angle During Autonomous Drifting Hindiyehand, Rami, Y., Gerdes, J., Christian 2010
  • Reducing Combustion Variation of Late-Phasing HCCI with Cycle-To-Cycle Exhaust Valve Timing Control Jungkunz, A., Liao, H., Ravi, N., Gerdes, J., Christian 2010
  • Predictive control of vehicle roll dynamics with rear wheelsteering Beal, Craig, E., Gerdes, J., Christian 2010
  • Autonomous Cornering at the Limits: Designing a Longitudinal Feedback Controller Using a Tire Slip Circle Kritayakirana, K., Gerdes, J., Christian 2010
  • A METHOD FOR INCORPORATING NONLINEAR TIRE BEHAVIOR INTO MODEL PREDICTIVE CONTROL FOR VEHICLE STABILITY PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2010, VOL 1 Beal, C. E., Gerdes, J. C. 2010: 157-164
  • SLIDING SURFACE ENVELOPE CONTROL: KEEPING THE VEHICLE WITHIN A SAFE STATE-SPACE BOUNDARY PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2010, VOL 1 Bobier, C. G., Joe, S., Gerdes, J. C. 2010: 149-156
  • PHYSICAL MODELING AND CONTROL OF A MULTI-CYLINDER HCCI ENGINE PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B Ravi, N., Roelle, M. J., Liao, H., Jungkunz, A. F., Chang, C., Gerdes, J. C. 2010: 549-556
  • EQUILIBRIUM ANALYSIS OF DRIFTING VEHICLES FOR CONTROL DESIGN PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B Hindiyeh, R. Y., Gerdes, J. C. 2010: 181-188
  • CONTROLLING AN AUTONOMOUS RACING VEHICLE: USING FEEDFORWARD AND FEEDBACK TO CONTROL STEERING AND SPEED PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B Kritayakirana, K., Gerdes, J. C. 2010: 173-180
  • Analysis and control of high sideslip manoeuvres VEHICLE SYSTEM DYNAMICS Voser, C., Hindiyeh, R. Y., Gerdes, J. C. 2010; 48: 317-336
  • Modeling and control of exhaust recompression HCCI using split injection 2010 AMERICAN CONTROL CONFERENCE Ravi, N., Liao, H., Jungkunz, A. F., Gerdes, J. C. 2010: 3797-3802
  • ENHANCING VEHICLE STABILITY THROUGH MODEL PREDICTIVE CONTROL PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B Beal, C. E., Gerdes, J. C. 2010: 197-204
  • PREDICTIVE CONTROL OF VEHICLE ROLL DYNAMICS WITH REAR WHEEL STEERING 2010 AMERICAN CONTROL CONFERENCE Beal, C. E., Gerdes, J. C. 2010: 1489-1494
  • Physics-Based Modeling and Control of Residual-Affected HCCI Engines JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Shaver, G. M., Gerdes, J. C., Roelle, M. J. 2009; 131 (2)

    View details for DOI 10.1115/1.3023125

    View details for Web of Science ID 000265526900002

  • LANEKEEPING AT THE LIMITS OF HANDLING: STABILITY VIA LYAPUNOV FUNCTIONS AND A COMPARISON WITH STABILITY CONTROL PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2008, PTS A AND B Talvala, K. L., Gerdes, J. C. 2009: 1161-1168
  • Analysis and Control of High Sideslip Maneuvers Voser, C., Hindiyeh, Rami, Y., Gerdes, J., Christian 2009
  • Rollover event prevention through predictive control of coordinated actuators Beal, Craig, E., Gerdes, J., Christian 2009
  • Steer-by-wire suspension design: geometries to enhance peak tire force estimation Bobier, Carrie, G., Gerdes, J., Christian 2009
  • Controlling an Autonomous Racing Vehicle: Using Feedforward and Feedback to Control Steering and Speed Kritayakirana, K., Gerdes, J., Christian 2009
  • Envelope control: keeping the vehicle within its handling limits using front steering Hsu, Y. J., Gerdes, J., Christian 2009
  • Robust fault detection filter design with applications to steer-by-wire vehicles PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION 2007, VOL 16 Gadda, C. D., Laws, S. M., Gerdes, J. C. 2008: 215-223
  • Changing lanes with active lanekeeping assistance: a simulator study Human Factors for assistance and automation Schmidt, G., Talvala, Kirstin, L.R., Switkes, Joshua, P., Kiss, M., Gerdes, J., Christian edited by de Waard, D., Flemisch, F., Lorenz, B. Shaker Publishing, Maastricht, the Netherlands. 2008: 1
  • Lanekeeping at the Handling Limits Hindiyeh, Rami, Y., Talvala, Kirstin, L. R., Gerdes, J., Christian 2008
  • Design and Tests of a Controller for Autonomous Vehicle Path Tracking Using GPS/INS Sensors Kang, J., Hindiyeh, Rami, Y., Moon, S., Yi, K., Gerdes, J., Christian 2008
  • The Jacobian Expression of Roll Center: Derivation and Interpretation with Application to a Suspension with Active Camber Laws, Shad, M., Gerdes, J., Christian 2008
  • Lanekeeping at the Limits of Handling: Stability via Lyapunov Functions and a Comparison with Stability Control Talvala, Kirstin, L.R., Gerdes, J., Christian 2008
  • The Predictive Nature of Pneumatic Trail: Tire Slip Angle and Peak Force Estimation using Steering Torque Hsu, Y. J., Gerdes, J., Christian 2008
  • Controller-observer implementation for cycle-by-cycle control of an HCCI engine PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION 2007, VOL 16 Ravi, N., Roelle, M. J., Gerdes, J. C. 2008: 177-185
  • Estimating thermodynamic state and ignition in HCCI with variable fuel injection timing PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION 2007, VOL 16 Roelle, M. J., Ravi, N., Gerdes, J. C. 2008: 195-204
  • Repetitive control of an electro-hydraulic engine valve actuation system 2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12 Liao, H., Roelle, M. J., Gerdes, J. C. 2008: 975-980
  • Transient responses of alternative vehicle configurations: A theoretical and experimental study on the effects of atypical moments of inertia 2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12 Bobier, C. G., Laws, S. M., Gerdes, J. C. 2008: 230-235
  • Generating diagnostic residuals for steer-by-wire vehicles IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY Gadda, C. D., Laws, S. M., Gerdes, J. C. 2007; 15 (3): 529-540
  • Experimental vehicle handling modification through steer-by-wire and differential drive 2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13 Brown, J. W., MacLean, R. K., Laws, S., Gadda, C., Gerdes, J. C. 2007: 3814-3819
  • Driver Response to Steering Torque Disturbances: A User Study on Assisted Lane-keeping Switkes, Joshua, P., Gerdes, J., Christian, Schmidt, Gerrit, F., Kiss, M. 2007
  • Degenerate Mechanical Systems – A Framework for Tracking Control Chang, Samuel, Y., Gerdes, J., Christian 2007
  • Model Based Control of Exhaust Recompression HCCI Ravi, N., Roelle, Matthew, J., Jungkunz, Adam, F., Gerdes, J., Christian 2007
  • Experimental Studies of Using Steering Torque Under Various Road Conditions for Sideslip and Friction Estimation Hsu, Y. J., Laws, S., Gerdes, J., Christian 2007
  • Degenerate mechanical systems - A framework for tracking control 2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13 Chang, S. Y., Gerdes, J. C. 2007: 3729-3734
  • Integrating INS sensors with GPS measurements for continuous estimation of vehicle sideslip, roll, and tire cornering stiffness IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS Bevly, D. A., Ryu, J., Gerdes, J. C. 2006; 7 (4): 483-493
  • Lyapunov based performance guarantees for the potential field lane-keeping assistance system JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Rossetter, E. J., Gerdes, J. C. 2006; 128 (3): 510-522

    View details for DOI 10.1115/1.2192835

    View details for Web of Science ID 000240924300005

  • Handwheel force feedback for lanekeeping assistance: Combined dynamics and stability JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Switkes, J. P., Rossetter, E. J., Coe, I. A., Gerdes, J. C. 2006; 128 (3): 532-542

    View details for DOI 10.1115/1.2229256

    View details for Web of Science ID 000240924300007

  • Modeling cycle-to-cycle dynamics and mode transition in HCCI engines with variable valve actuation CONTROL ENGINEERING PRACTICE Shaver, G. M., Roelle, M. J., Gerdes, J. C. 2006; 14 (3): 213-222
  • A two-input two-output control model of HCCI engines 2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 Shaver, G. M., Roelle, M., Gerdes, J. C. 2006; 1-12: 472-477
  • A 2-Input, 2-State Model of Residual-Affected HCCI Engines Shaver, Gregory, M., Roelle, Matthew, J., Gerdes, J., Christian 2006
  • A Physically Based Two-State Model for Controlling Exhaust Recompression HCCI in Gasoline Engines Ravi, N., Roelle, Matthew, J., Jungkunz, Adam, F., Gerdes, J., Christian 2006
  • Lyapunov based performance guarantees for the potential field lanekeeping assistance system ASME Journal of Dynamic Systems, Measurement and Control Rossetter, Eric, J., Gerdes, J., Christian 2006; 3 (128): 532-542
  • An Energy Based Performance Bound for Lanekeeping Assistance with Force Feedback Switkes, Joshua, P., Gerdes, J., Christian 2006
  • A Dynamic Model of Recompression HCCI Combustion Including Cylinder Wall Temperature Roelle, Matthew, J., Ravi, N., Jungkunz, Adam, F., Gerdes, J., Christian 2006
  • Cycle-to-cycle dynamics and mode transition in HCCI engines with variable valve actuation Control Engineering Practice Shaver, Gregory, M., Roelle, Matthew, J., Gerdes, J., Christian 2006; 3 (14): 213-222
  • High-Frequency Vehicle Characteristics: Modeling and Experimental Validation of Yaw, Sideslip, and Roll Modes Law, S., Gerdes, J., Christian 2006
  • A Method to Estimate the Friction Coefficient and Tire Slip Angle Using Steering Torque Hsu, Y. J., Laws, S., Gadda, Christopher, D., Gerdes, J., Christian 2006
  • GPS-Augmented vehicle dynamics control SAE Transactions, Journal of Passenger Cars: Mechanical Systems Beiker, Sven, A., Gaubatz, K., Gerdes, J., Christian, Rock, Kirstin, L. 2006: 1174-1182
  • Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip and tire cornering stiffness IEEE Transactions on Intelligent Transportation Systems Bevly, David, M., Ryu, J., Gerdes, J., Christian 2006; 4 (7): 483-493
  • GPS Augmented Vehicle Dynamics Control Beiker, S. A., Gaubatz, K. H., Gerdes, J., Christian, Rock, Kirstin, L. 2006
  • Real-time Tire Parameter Estimation in a Steer-by-wire Vehicle Hsu, Y. J., Gerdes, J., Christian 2006
  • Eliminating the Need for Sensor Redundancy in Diagnostic Systems for Steer-by-Wire Vehicles Gadda, Christopher, D., Gerdes, J., Christian 2006
  • Modification of vehicle handling characteristics via steer-by-wire IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY Yih, P., Gerdes, J. C. 2005; 13 (6): 965-976
  • Consistent nonlinear estimation of longitudinal tire stiffness and effective radius IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY Carlson, C. R., Gerdes, J. C. 2005; 13 (6): 1010-1020
  • Dynamic modeling of residual-affected homogeneous charge compression ignition engines with variable valve actuation JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Shaver, G. M., Gerdes, J. C., Roelle, M. J., Caton, P. A., Edwards, C. F. 2005; 127 (3): 374-381

    View details for DOI 10.1115/1.1979511

    View details for Web of Science ID 000232071400008

  • Validating GPS based measurements for vehicle control PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B Rock, K. L., Beiker, S. A., Laws, S., Gerdes, J. C. 2005: 583-592
  • Residual autocorrelation in probabilistic model-based diagnostics PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B Schwall, M. L., Gerdes, J. C. 2005: 1255-1264
  • Steer-by-Wire Suspension and Steering Design for Controllability and Observability Laws, S., Gadda, C., Kohn, S., Yih, P., Gerdes, J., Christian, Milroy, J., Craig 2005
  • Residual Autocorrelation in Probabilistic Model-Based Diagnostics Schwall, Matthew, L., Gerdes, J., Christian 2005
  • A physically based approach to control of HCCI engines with variable valve actuation International Journal of Engine Research Shaver, Gregory, M., Roelle, Matthew, J., Caton, Patrick, A., Kaahaaina, Nalu, B., Ravi, N., Hathout, J., Gerdes, J. C. 2005; 4 (6): 361-375
  • Decoupled Control of Combustion Timing and Peak Pressure on an HCCI Engine Shaver, Gregory, M., Roelle, Matthew, J., Gerdes, J., Christian 2005
  • Automotive Diagnostic Decisions Using Probabilistic Information Schwall, Matthew, L., Gerdes, J., Christian 2005
  • Stabilization of a steer-by-wire vehicle at the limits of handling using feedback linearization PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B Hsu, Y. J., Gerdes, J. C. 2005: 483-492
  • Decoupled control of combustion timing and work output in residual-affected HCCI engines ACC: PROCEEDINGS OF THE 2005 AMERICAN CONTROL CONFERENCE, VOLS 1-7 Shaver, G. M., Roelle, M., Gerdes, J. C. 2005: 3871-3876
  • Differential geometric structures in vehicle lane keeping and roll mitigation ACC: PROCEEDINGS OF THE 2005 AMERICAN CONTROL CONFERENCE, VOLS 1-7 Chang, S. Y., Gerdes, J. C. 2005: 441-446
  • Guaranteeing lanekeeping performance with tire saturation using computed polynomial lyapunov functions PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B Switkes, J. P., Gerdes, J. C. 2005: 415-424
  • Automotive diagnostic decisions using probabilistic infomation PROCEEDINGS OF IMECE 2005: ENGINEERING/TECHNOLOGY MANAGEMENT Schwall, M. L., Gerdes, J. C. 2005: 157-166
  • Integrating inertial sensors with global positioning system (GPS) for vehicle dynamics control JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Ryu, J., Gerdes, J. C. 2004; 126 (2): 243-254

    View details for DOI 10.1115/1.1766026

    View details for Web of Science ID 000223382800002

  • Experimental validation of the potential field lanekeeping system INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY Rossetter, E. J., Switkes, J. R., Gerdes, J. C. 2004; 5 (2): 95-108
  • Physics-based closed-loop control of phasing, peak pressure and work output in HCCI engines utilizing variable valve actuation PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Shaver, G. M., Gerdes, J. C., Roelle, M. 2004: 150-155
  • Vehicle sideslip and road bank angle estimation using GPS Review of Automotive Engineering JSAE Ryu, J., Gerdes, J., Christian 2004; 3 (25): 347-359
  • Multi-cycle modeling of HCCI Engines Shaver, Gregory, M., Roelle, M., Gerdes, J., Christian 2004
  • Tackling theTransition: A Multi-Mode Combustion Model of SI and HCCI for Mode Transition Control Roelle, M., Shaver, Gregory, M., Gerdes, J., Christian 2004
  • Steer-by-Wire for Vehicle State Estimation and Control Yih, P., Gerdes, J., Christian 2004
  • Using MEMS Accelerometers to Improve Automobile Handwheel State Estimation for Force Feedback Switkes, Joshua, P., Coe, Ian, A., Gerdes, J., Christian 2004
  • Vehicle State Estimation in Diagnostic Systems for Steer-by-Wire Vehicles Gadda, Christopher, D., Yih, P., Gerdes, J., Christian 2004
  • Handwheel Force Feedback for Lanekeeping Assistance: Combined Dynamics and Stability Switkes, Joshua, P., Rossetter, Eric, J., Coe, Ian, A., Gerdes, J., Christian 2004
  • Contraction and Sum of Squares Analysis of HCCI Engines Shaver, Gregory, M., Kojic, A., Gerdes, J., Christian, Hathout, J., Ahmed, J. 2004
  • Integrating inertial sensors with GPS for vehicle dynamics control ASME Journal of Dynamic Systems, Measurement and Control Ryu, J., Gerdes, J., Christian 2004; 2 (126): 243-254
  • Error sources when land vehicle dead reckoning with differential wheelspeeds Navigation Carlson, Christopher, R., Gerdes, J., Christian, Powell, J., David 2004; 1 (51): 13-29
  • Vehicle state estimation using steering torque PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Yih, P., Ryu, J., Gerdes, J. C. 2004: 2116-2121
  • Input shaper design in convex optimization framework with frequency domain constraints PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Bae, H. S., Gerdes, J. C. 2004: 2687-2692
  • Estimation of vehicle roll and road bank angle PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Ryu, J., Gerdes, J. C. 2004: 2110-2115
  • Command modification using input shaping for automated highway systems with heavy trucks PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Bae, H. S., Gerdes, J. C. 2003: 54-59
  • Optimal Rollover Prevention with Steer by Wire and Differential Braking Carlson, Christopher, R., Gerdes, J., Christian 2003
  • Cam System Modeling Cam Design Handbook Gerdes, J., Christian edited by Rothbart, Harold, A. Mc-Graw-Hill. 2003: 1
  • Safety Guarantees For Lanekeeping Assistance Systems With Time-Varying Disturbances: A Lyapunov Approach Rossetter, Eric, J., Gerdes, J., Christian 2003
  • Cycle-to-cycle control of HCCI Engines Shaver, Gregory, M., Gerdes, J., Christian 2003
  • Command Modification Using Input Shaping for Automated Systems with Heavy Trucks Bae, Hong, S., Gerdes, J., Christian 2003
  • Residual-effected homogeneous charge compression ignition at low compression ratio using exhaust reinduction International Journal of Engine Research Caton, Patrick, A., Simon, A., J., Gerdes, J., Christian, Edwards, Christopher, F. 2003; 3 (4): 163-177
  • A Probabilistic Vehicle Diagnostic System Using Multiple Models Schwall, Matthew, L., Gerdes, J., Christian 2003
  • Modeling for control of HCCI engines PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Shaver, G. M., Gerdes, J. C., Jain, P., Caton, P. A., Edwards, C. F. 2003: 749-754
  • A gentle nudge towards safety: Experimental validation of the potential field driver assistance system PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Rossetter, E. J., Switkes, J. P., Gerdes, J. C. 2003: 3744-3749
  • Modification of vehicle handling characteristics via steer-by-wire PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Yih, P., Ryu, J., Gerdes, J. C. 2003: 2578-2583
  • Nonlinear estimation of longitudinal tire slip under several driving conditions PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Carlson, C. R., Gerdes, J. C. 2003: 4975-4980
  • A new yaw dynamic model for improved high speed control of a farm tractor JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Bevly, D. M., Gerdes, J. C., Parkinson, B. W. 2002; 124 (4): 659-667

    View details for DOI 10.1115/1.1515329

    View details for Web of Science ID 000180232400021

  • "Loop-at-a-time" design of Dynamic Surface Controllers for nonlinear systems JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Gerdes, J. C., Hedrick, J. K. 2002; 124 (1): 104-110

    View details for DOI 10.1115/1.1433804

    View details for Web of Science ID 000175335800013

  • An error energy shaping interpretation of tracking controllers for mechanical systems PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Chang, S. Y., Gerdes, J. C. 2002: 3968-3973
  • The use of GPS based velocity measurements for measurement of sideslip and wheel slip VEHICLE SYSTEM DYNAMICS Bevly, D. M., Gerdes, J. C., Wilson, C. 2002; 38 (2): 127-147
  • Loop-at-a-time’ design of dynamic surface controllers for nonlinear systems ASME Journal of Dynamic Systems, Measurement and Control Gerdes, J., Christian, Hedrick, J., Karl 2002; 1 (124): 104-110
  • Performance Guarantees for Hazard Based Lateral Vehicle Control Rossetter, Eric, J., Gerdes, J., Christian 2002
  • Yaw dynamic modeling for improved high speed control of a farm tractor ASME Journal of Dynamic Systems, Measurement and Control Bevly, David, M. 2002; 4 (124): 659-667
  • The use of GPS based velocity measurements for measurement of sideslip and wheel slip Vehicle System Dynamics Bevly, David, M., Gerdes, J., Christian, Wilson, C. 2002; 2 (38): 127-147
  • Identifying Tire Pressure Variation by Nonlinear Estimation of Longitudinal Stiffness and Effective Radius Carlson, Christopher, R., Gerdes, J., Christian 2002
  • Practical Position and Yaw Rate Estimation with GPS and Differential Wheelspeeds Carlson, Christopher, R., Gerdes, J., Christian, Powell, J., David 2002
  • A Comparison of Several Sliding Surfaces for Stability Control Uematsu, K., Gerdes, J., Christian 2002
  • Vehicle Sideslip and Roll Parameter Estimation Using GPS Ryu, J., Rossetter, Eric, J., Gerdes, J., Christian 2002
  • A Study of Lateral Vehicle Control Under a ‘Virtual’ Force Framework Rossetter, Eric, J., Gerdes, J., Christian 2002
  • A probabilistic approach to residual processing for vehicle fault detection PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Schwall, M. L., Gerdes, J. C. 2002: 2552-2557
  • Combining lanekeeping and vehicle following with hazard maps VEHICLE SYSTEM DYNAMICS Gerdes, J. C., Rossetter, E. J., Saur, U. 2001; 36 (4-5): 391-411
  • A unified approach to driver assistance systems based on artificial potential fields JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Gerdes, J. C., Rossetter, E. J. 2001; 123 (3): 431-438
  • Road grade and vehicle parameter estimation for longitudinal control using GPS 2001 IEEE INTELLIGENT TRANSPORTATION SYSTEMS - PROCEEDINGS Bae, H. S., Ryu, R. H., Gerdes, J. C. 2001: 166-171
  • Multi-Modal Diagnostics for Vehicle Fault Detection Schwall, Matthew, L., Gerdes, J., Christian 2001
  • A Lyapunov Function Approach to Energy Based Model Reduction Chang, Samuel, Y., Carlson, Christopher, R., Gerdes, J., Christian 2001
  • Calculating longitudinal wheel slip and tire parameters using GPS velocity PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Miller, S. L., YOUNGBERG, B., Millie, A., Schweizer, P., Gerdes, J. C. 2001: 1800-1805
  • Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip and tire cornering stiffness PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Bevly, D. M., Sheridan, R., Gerdes, J. C. 2001: 25-30
  • Dynamic surface control for a class of nonlinear systems IEEE TRANSACTIONS ON AUTOMATIC CONTROL Swaroop, D., Hedrick, J. K., Yip, P. P., Gerdes, J. C. 2000; 45 (10): 1893-1899
  • The use of GPS based velocity measurements for improved vehicle state estimation PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Bevly, D. M., Gerdes, J. C., Wilson, C., Zhang, G. S. 2000: 2538-2542
  • Yaw dynamic modeling for improved high speed control of a farm tractor Bevly, David., M., Gerdes, J., Christian, Parkinson, B. 2000
  • Parameter Estimation and Command Modification for Longitudinal Control of Heavy Vehicles Bae, H. S., Gerdes, J., Christian 2000
  • Combining Lanekeeping and Vehicle Following with Hazard Maps Gerdes, J., Christian, Saur, U., Rossetter, Eric, J. 2000
  • The role of handling characteristics in driver assistance systems with environmental interaction PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Rossetter, E. J., Gerdes, J. C. 2000: 2528-2532
  • Brake system modeling for simulation and control JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Gerdes, J. C., Hedrick, J. K. 1999; 121 (3): 496-503
  • Hysteresis Control of Nonlinear Single-Acting Actuators as Applied to Brake/Throttle Switching Gerdes, J., Christian, Hedrick, J., Karl 1999
  • A Unified Approach to Driver Assistance Systems Based On Artificial Potential Fields Gerdes, J., Christian, Rossetter, Eric, J. 1999
  • Loop-at-a-time Design of Dynamic Surface Controllers for Nonlinear Systems Gerdes, J., Christian, Hedrick, J., Karl 1999
  • Vehicle speed and spacing control via coordinated throttle and brake actuation CONTROL ENGINEERING PRACTICE Gerdes, J. C., Hedrick, J. K. 1997; 5 (11): 1607-1614
  • Dynamic Surface Control of Nonlinear Systems Swaroop, D., V.A.H.G, Gerdes, J., Christian, Yip, Patrick, P., Hedrick, J., Karl 1997
  • Fault tolerant control of automatically controlled vehicles in response to brake system failures PROCEEDINGS OF THE 1997 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS Swaroop, D., Gerdes, J. C., Hedrick, J. K. 1997: 705-710
  • Dynamic surface control of nonlinear system PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Swaroop, D., Gerdes, J. C., Yip, P. P., Hedrick, J. K. 1997: 3028-3034
  • Vehicle speed and spacing control via coordinated throttle and brake actuation Control Engineering Practice Gerdes, J., Christian, Hedrick, J., Karl 1997; 11 (5): 1607-1614
  • Fault Tolerant Control of Automatically Controlled Vehicles in Response to Brake System Failures Swaroop, D., V.A.H.G, Gerdes, J., Christian, Hedrick, J., Karl 1997
  • Vehicle Speed and Spacing Control via Coordinated Throttle and Brake Actuation Gerdes, J., Christian, Hedrick, J., Karl 1996
  • An Impact Model of Mechanical Backlash for Control System Analysis Gerdes, J., Christian, Kumar, V. 1995
  • Brake system requirements for platooning on an automated highway PROCEEDINGS OF THE 1995 AMERICAN CONTROL CONFERENCE, VOLS 1-6 Gerdes, J. C., Hedrick, J. K. 1995: 165-169
  • Brake System Requirements for Platooning on an Automated Highway Gerdes, J., Christian, Hedrick, J., Karl 1995
  • Brake System Modeling for Vehicle Control Gerdes, J., Christian, Brown, Aaron, S., Hedrick, J., Karl 1995
  • Brake System Modeling for IVHS Longitudinal Control, Advances in Robust and Nonlinear Control Gerdes, J., Christian, Maciuca, Dragos, B., Hedrick, J., Karl, Devlin, Peter, E. 1993
  • Incorporating Design Into an Undergraduate Laboratory Course Gerdes, J., Christian 1993