Bio


Professor Gerdes' research centers on the application of dynamic modeling to problems in nonlinear control, estimation and diagnostics. Specific areas of interest include the development of driver assistance systems for lane keeping and collision avoidance, modeling and control of novel combustion processes for Internal Combustion engines and diagnostics for automotive drive-by-wire systems. Prior to joining Stanford, Professor Gerdes was the project leader for vehicle dynamics at the Vehicle Systems Technology Center of Daimler-Benz Research and Technology North America. His work at Daimler focused on safety analysis and simulation-based design of heavy trucks for the Freightliner Corporation.

Academic Appointments


  • Associate Professor, Mechanical Engineering
  • Senior Fellow, Precourt Institute for Energy
  • Associate Professor (By courtesy), Aeronautics and Astronautics

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)

2013-14 Courses


Journal Articles


  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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 sideslip and road bank angle estimation using GPS Review of Automotive Engineering JSAE Ryu, J., Gerdes, J., Christian 2004; 3 (25): 347-359
  • 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
  • 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
  • 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
  • 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
  • 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

Books and Book Chapters


  • 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
  • Cam System Modeling Cam Design Handbook Gerdes, J., Christian edited by Rothbart, Harold, A. Mc-Graw-Hill. 2003: 1

Conference Proceedings


  • Nonlinear optimization of a racing line for an autonomous racecar using professional driving techniques Theodosis, P., Gerdes, J. C. 2012
  • Multi-Cylinder HCCI Control with Cam Phaser Variable Valve Actuation Using Model Predictive Control Erlien, S., Jungkunz, A., Gerdes, J., Christian 2012
  • Analysis of Measured Racing Lines: A Path Primitive Based Curve Fitting Approach Koch, G., Kegelman, John, C., Gerdes, J., Christian 2012
  • A controller framework for autonomous drifting: Design, stability, and experimental validation Hindiyeh, R., Gerdes, J., Christian 2011
  • 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
  • Autonomous Cornering at the Limits: Designing a Longitudinal Feedback Controller Using a Tire Slip Circle Kritayakirana, K., Gerdes, J., Christian 2010
  • 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
  • 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
  • Envelope control: keeping the vehicle within its handling limits using front steering Hsu, Y. J., Gerdes, J., Christian 2009
  • 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
  • The Predictive Nature of Pneumatic Trail: Tire Slip Angle and Peak Force Estimation using Steering Torque Hsu, Y. J., Gerdes, J., Christian 2008
  • 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
  • Experimental Studies of Using Steering Torque Under Various Road Conditions for Sideslip and Friction Estimation Hsu, Y. J., Laws, S., Gerdes, J., Christian 2007
  • 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
  • Eliminating the Need for Sensor Redundancy in Diagnostic Systems for Steer-by-Wire Vehicles Gadda, Christopher, D., Gerdes, J., Christian 2006
  • 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
  • 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
  • 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 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
  • Automotive Diagnostic Decisions Using Probabilistic Information Schwall, Matthew, L., Gerdes, J., Christian 2005
  • 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
  • Decoupled Control of Combustion Timing and Peak Pressure on an HCCI Engine Shaver, Gregory, M., Roelle, Matthew, J., Gerdes, J., Christian 2005
  • 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
  • A Probabilistic Vehicle Diagnostic System Using Multiple Models Schwall, Matthew, L., Gerdes, J., Christian 2003
  • Optimal Rollover Prevention with Steer by Wire and Differential Braking Carlson, Christopher, R., Gerdes, J., Christian 2003
  • 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
  • A Study of Lateral Vehicle Control Under a ‘Virtual’ Force Framework Rossetter, Eric, J., Gerdes, J., Christian 2002
  • Performance Guarantees for Hazard Based Lateral Vehicle Control Rossetter, Eric, J., Gerdes, J., Christian 2002
  • 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 Lyapunov Function Approach to Energy Based Model Reduction Chang, Samuel, Y., Carlson, Christopher, R., Gerdes, J., Christian 2001
  • Multi-Modal Diagnostics for Vehicle Fault Detection Schwall, Matthew, L., Gerdes, J., Christian 2001
  • Combining Lanekeeping and Vehicle Following with Hazard Maps Gerdes, J., Christian, Saur, U., Rossetter, Eric, J. 2000
  • 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
  • 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
  • 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 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 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