Noboru Sakamoto

• Affiliation and address
• Education
• Academic experience and visiting
• Research topics
• Teaching
• Honors
• Invited talks
• Publications

• Bachelor in Mathematics, Hokkaido University, 1991
• M.S. in Aerospace Engineering, Nagoya University, 1993
• PhD in Aerospace Engineering, Nagoya University, 1996

• March 2018 - September 2019 : Visiting Professor at University of Deusto, Dycon Team.
• April 2015 - present : Professor of Department of Mechatronics, Fuculty of Science and Engineering, Nanazan University.
• April 2008 - present : A member of IFAC Technical Committee on Optimal Control
• September 2005 - August 2006 : Visiting Researcher at Institute of Mathematics and Computing Science, University of Groningen, The Netherlands.
• April 2000 - March 2015 : Associate Professor of Department of Aerospace Engineering, Nagoya University.
• April 1997 - 2000 : Assistant Professor of Department of Aerospace Engineering, Nagoya University.
• May 1996 - 1997 : Research Associate of Department of Aerospace Engineering, Nagoya University

• Nonlinear optimal control theory
• Analysis and solution method of the Hamilton-Jacobi equation in nonlinear control theory (Stable Manifold Method)
  See experimental validations: Flexible inverted pendulum swing up, Acrobot swing up
• Control of chaotic systems and chaos engineering
• Nonlinear output regulation problem (nonlinear servo mechanism)
• Invariant manifold theory and its application to control system design
• Nonlinear geometric control theory
• Control theory on Lie groups with application for space engineering
• Analysis and controller design to suppress Pilot-Induced-Oscillations in aircrafts

• Elementary Differential Equation
• Optimal Control Theory
• Linear Multivariable Control
• Elementary College Calculus
• Introduction to Probability and Statistical Estimation Theory

• 2016 Kimura Prize, from the Control Division of the Society of Instrument Control Engineers (SICE), Japan.
• 2011 Best Paper Prize (Takeda Prize), from the Society of Instrument Control Engineers (SICE), Japan
• 2008 Best Paper Prize (Takeda Prize), from the Society of Instrument Control Engineers (SICE), Japan
• 2006 Best Paper Prize, from the Society of Instrument Control Engineers (SICE), Japan
• 2005-06 JSPS Scientists Exchange Program Fellowship, Japan
• 2003 Inamori Scholarship, Japan
• 1997 Best Paper Prize, from the Society of Instrument Control Engineers (SICE), Japan

• A Dynamical System View on Nonlinear Optimal Control Analysis and Design, IV Stability and Control Processes Conference in memory of Prof. Vladimir Zubov, Saint Petersburg, Russia, October 5-9, 2020.
• Nonlinear optimal control and applications---stable manifold approach, Kimura-Award Commemorative Lecture, MSCS 2017 Okayama, March 8, 2017.
• Stable Manifold Approach for Hamilton-Jacobi Equations in Optimal Control Theory with Applications, 9th Workshop on Control of Distributed Parameter Systems, Beijing Institute of Technology, Beijing, June 29-July 3rd, 2015.
• Stable Manifold Method for Nonlinear Optimal Control, SICE Annual Conference 2014, Hokkaido University, Sapporo, September 12, 2014 (Plenary Lecture).
• High performance controller design based on invariant manifold computations, FIRST Aihara Project, University of Tokyo, Tokyo, February 1, 2013.
• Invariant manifolds and control system design --- From optimal control to servo system design , Mathematics in the real world 2, Math, Electric and Mechanics Interdisciplinary Graduate Program, Tokyo Metropolitan University, Tokyo, December 18, 2010 (in Japanese).
• Approximate solution method for the Hamilton-Jacobi equation based on stable manifold theory with applications , The 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2010), Bologna, Italy, September 3rd, 2010 (Semi-plenary lecture).
• Toward nonlinear control theory that can really be used in practice, The 52nd Anual Conference of the Institute of Systems, Control and Information Engineers, Kyoto, May 16th, 2008 (Semi-plenary lecture, in Japanese).

• N. Sakamoto: When does stabilizability imply the existence of infinite horizon optimal control in nonlinear systems?, to appear in Automatica, 2023 (this link is valid until 31st December 2022)
• N. Sakamoto: Nonlinear Optimal Control --- Theory, Application and Implementation, Journal of The Society of Instrument and Control Engineers, Vol. 63, pp. 139-145, 2022
• M. Gnuffi, D. Pighin and N. Sakamoto: Rotor imbalance suppression by optimal control, Optimal Control, Applications and Methods, Vol. 43, pp. 213-242, 2022
• N. Sakamoto and E. Zuazua: The turnpike property in nonlinear optimal control --- A geometric approach, Automatica, Vol. 134, 109939, 2021
• N. Sakamoto and M. Nagahara: The turnpike property in the maximum hands-off control, 59th IEEE Conference on Decision and Control, pp. 2350-2355, 2020
• T. Nakamura, Y. Oishi and N. Sakamoto: Nonlinear Optimal Tracking Control for a Periodic Reference Signal -- An Approach with the Stable-Manifold Method and a Shooting Method, Trans. SICE, Vol. 56, No. 4, pp. 243-248, 2020
• N. Sakamoto, D. Pighin and E. Zuazua: The turnpike property in nonlinear optimal control --- A geometric approach, 58th IEEE Conference on Decision and Control, pp. 2422-2427, 2019
• T. Horibe and N. Sakamoto: Nonlinear optimal control for swing up and stabilization of the Acrobot via stable manifold approach: Theory and experiment, IEEE Transactions on Control System Technology, Vol. 27, No. 6, pp. 2374-2387, 2019 (see experiment)
• G. Nishida and N. Sakamoto: Data-driven nonlinear optimal control for distributed parameter systems with output delay, IFAC-PapersOnLine, Volume 51, Issue 3, pp. 101-106, 2018 (6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control)
• A. Nakashima, S. Maruo, R. Nagai and N. Sakamoto: 2-Dimensional dynamical modeling and control of spherical robot driven by inner car, IEEE International Conference on Robotics and Biomimetics, pp. 1846-1851, 2018
• L. N. Kamba, T. T. Manga and N. Sakamoto: Stability and Optimal Control of Tuberculosis Spread with an Imperfect Vaccine in the Case of Co-Infection with HIV, Open Journal of Modelling and Simulation, Vol. 7, No. 2, pp. 97-114, 2019
• A. T. Tran, S. Suzuki, N.Sakamoto: Nonlinear gain-scheduled flight controller design via stable manifold method, Aerospace Science and Technology, Vol. 80, pp. 301-308, 2018
• A. T. Tran, S. Suzuki, N.Sakamoto: Nonlinear optimal control design considering a class of system constraints with validation on a magnetic levitation system, IEEE Control System Letters, Vol. 1, No. 2, pp. 418-423, 2017
• T. Horibe, N. Sakamoto, Optimal swing up and stabilization control for inverted pendulum via stable manifold method, IEEE Transaction on Control System Technology, Vol. 26, No. 2, pp. 708-715, 2017
• G. Nishida, N. Sakamoto: Parallelization of search scheme in stable manifold method, SICE Annual Conference, 2017
• G. Nishida, N. Sakamoto: Stable manifold method for infinite horizon optimal control problem with discounted cost, 20th IFAC World Congress, 2017
• Y. Oishi, N. Sakamoto: Numerical computational improvement of the stable-manifold method for nonlinear optimal control, 20th IFAC World Congress, 2017
• A.T.Tran, N. Sakamoto, Y. Kikuchi, K. Mori: Pilot-Induced-Oscillation suppression controller design via nonlinear optimal output regulation method, Aerospace Science and Technology, Vol. 68, pp. 278-286, 2017
• A. T. Tran, N. Sakamoto, M. Sato and K. Muraoka: Control augumentation system design for Quad-Tilt-Wing unmanned aerial vehicle via robust output regulation method, to appear in IEEE Transaction on Aerospace and Electric Systems, Vol. 53, No. 1, pp. 357 - 369, 2017
• A. T. Tran and N. Sakamoto: A general framework for constrained optimal control based on stable manifold method, 55th IEEE Conference on Decision and Control, 2016.
• A. T. Tran and N. Sakamoto: A computational approach for stable manifold method based on three-point boundary value problem, SICE Annual Conference 2016, 2016.
• T. Horibe and N. Sakamoto: Swing up and stabilization of the Acrobot via nonlinear optimal control based on stable manifold method, 10th IFAC Symposium on Nonlinear Control Systems, 2016.
• G. Nishida and N. Sakamoto: Optimal Port Allocation for Nonlinear Distributed Parameter Systems, 2nd IFAC Workshop on Control of Systems Governed by Partial Differential Equations, 2016.
• N. Sakamoto and G. Nishida: Nonlinear optimal control: Stable manifold approach, Half-Day Workshop at the 54th IEEE Conference on Decision and Control, 2015.
• K. Nagata, N. Sakamoto and Y. Habaguchi: Center manifold method for the orbit design of the restricted three body problem, 54th IEEE Conference on Decision and Control, 2015.
• Y. Abe and G. Nishida, N. Sakamoto and Y. Yamamoto: Robust nonlinear H-infty control design via stable manifold method, Mathematical Problems in Engineering, Vol. 2015, Article ID 198380, 2015.
• G. Nishida, Y. Abe, N. Sakamoto and Y. Yamamoto: Robustness analysis of optimal regulator for vehicle model with nonlinear friction, International Journal of Emerging Technology and Advanced Engineering, Vol. 5, Issue 6, pp. 25-30, 2015.
• Y. Habaguchi, N. Sakamoto and K. Nagata: Nonlinear optimal stabilization of unstable periodic orbits, 4th IFAC Conference on Analysis and Control of Chaotic Systems, 2015.
• K. Hamaguchi, G. Nishida, N. Sakamoto and Y.~Yamamoto: Nonlinear optimal control in catalytic process via stable manifold method, 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, 2015.
• G. Nishida and N. Sakamoto: Robustness of Nonlinear Optimal Regulator for Reduced Distributed Parameter System, 2015 SIAM Conference on Control and Its Applications, 2015.
• T. Kobayakawa, H. Kawato, K. Mochizuki, N. Sakamoto and Y. Habaguchi: Abort recovery strategy for future vertical landing systems, Acta Astronautica, Vol. 116, pp. 148-153, 2015.
• Y. Abe, G. Nishida, N. Sakamoto and Y. Yamamoto: Symplectic numerical approach for nonlinear optimal control of systems with inequality constraints, International Journal of Modern Nonlinear Theory and Application, Vol. 4, No. 4, pp. 234-248, 2015.
• M. Suzuki and N. Sakamoto: A study on global stabilization of periodic orbits in discrete-time chaotic systems by using symbolic dynamics, Kybernetika, Vol. 51, Issue 1, pp. 4-19, 2015.
• K. Hamaguchi, G. Nishida, N. Sakamoto and Y. Yamamoto: Optimal feedback control of nonlinear distributed parameter systems based on model reduction, Trans. SICE, Vol. 51, No. 3, pp. 181-188. 2015.
• K. Yamaguchi, N. Sakamoto: Swing-up and stabilization control of a flexible rotational inverted pendulum by nonlinear frequency optimal control, Trans. SICE, Vol. 51, No. 3. pp. 148-154, 2015; See experiment video on Youtube
• Y. Umemura and N.Sakamoto: Optimal servo design for lock-up slip control for torque converter---nonlinear output regulation approach, IEEE Transactions on Control Systems Technology, Vol. 23, No. 4, pp. 1587 - 1593, 2015.
• K. Hamaguchi, G. Nishida, N. Sakamoto and Y. Yamamoto: Rapid numerical solution to Hamilton-Jacobi equations in stable manifold method, Trans. ISCIE, Vol. 28, No. 1, pp. 32-39, 2015.
• T. Kobayakawa, H. Kawato, K. Mochizuki, N. Sakamoto and Y. Habaguchi: Abort recovery strategy for future vertical landing systems, 65th International Astronautical Congress, 2014.
• K. Ishikawa and N. Sakamoto: Optimal control for control moment gyros -- Center-stable manifold approach, Trans. SICE, Vol. 50, No. 10, pp. 731-738, 2014.
• K. Hamaguchi, G. Nishida and N. Sakamoto: Suboptimal feedback control of nonlinear distributed parameter systems by stable manifold method, 19th IFAC World Congress, 2014.
• N. Sakamoto and B. Rehak: Nonlinear Luenberger observer design via invariant manifold computation, 19th IFAC World Congress, 2014.
• A nonlinear observer via system variables dependent Sylvester equation approach with applications, 21st Mathematical Theory of Network and Systems (MTNS 2014), 2014.
• Y. Umemura and N. Sakamoto: Slip control of a lock-up clutch via optimal output regulation for LPV systems, Trans. SICE, Vol. 50, No. 3, pp. 274-280, 2014.
• K. Ueno, N. Sakamoto, M. Suzuki and T. Oguchi: New nonlinear observer by state-dependent sylvester equation approach, Trans. SICE, Vol. 50, No. 3, pp. 219-226, 2014.
• H. Suzuki and N. Sakamoto: Output regulation control experiment for inverted pendulum -- Nonlinear control via center manifold approximation theory, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol. 79, No. 803, pp. 2373-2382, 2013.
• G. Nishida, K. Yamaguchi and N. Sakamoto: Passivity-based boundary controls of flexible beams with large deformations, Trans. ISCIE, Vol. 26, No. 7, pp. 288-296, 2013.
• Y. Umemura and N. Sakamoto: Nonlinear optimal servo control design for PMSM with inverter voltage norm constraints, Trans. ISCIE, Vol. 26, No. 7, pp. 252-260, 2013.
• Y. Umemura and N. Sakamoto: Nonlinear optimal control design for practical use - Based on invariant manifold computation, Journal of ISCIE, Vol. 57, No. 7, 264-269, 2013.
• M. Suzuki and N. Sakamoto: Analysis and control for systems of first oder partial differential equations, Journal of ISCIE, Vol. 57, No. 6, 248-253, 2013.
• H. Umeda, N. Sakamoto and Y. Umemura: Nonlinear optimal controller designs satisfying state and input norm constraints, Trans. SICE, Vol. 49, No. 3, 345-352, 2013.
• S. Yamagishi, N. Sakamoto and M. Sato: Flight Control Design for Prevention of PIO using Nonlinear Optimal Control, Journal of the Japan Society for Aeronautical and Space Sciences, Vol. 61, No. 1, pp. 1-8, 2013.
• N. Sakamoto: Case studies on the application of the stable manifold approach for nonlinear optimal control design, Automatica, Vol. 49, No. 2, pp. 568-576, 2013.
• K. Yamaguchi, G. Nishida and N. Sakamoto: Energy estimation in numerical scheme for nonlinear partial differential equations, 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, 2012.
• R. Fujimoto and N. Sakamoto: Swing-up and stabilization of inverted pendulum by nonlinear optimal control, Trans. SICE, Vol. 48, No. 7, pp. 423-430, 2012.
• G. Nishida and N. Sakamoto: Hamiltonian Representation of Magnetohydrodynamics for Boundary Energy Controls, Topics in Magnetohydrodynamics, Dr. Linjin Zheng (Ed.), InTech, pp. 167-188, 2012.
• N. Sakamoto and B. Rehak: Iterative methods to compute center and center-stable manifolds with application to the optimal output regulation problem, 48th IEEE Conference on Decision and Control, 2011.
• H. Umeda, Y. Maeyama, N. Sakamoto and Y. Umemura: Optimal controller designs satisfying state constraints, The SICE Annual Conference, 2011.
• S. Yamagishi, N. Hasegawa, N. Sakamoto and M. Sato: Nonlinear control of an aircraft in the presence of microburst windshear, The SICE Annual Conference, 2011.
• R. Fujimoto and N. Sakamoto: The stable manifold approach for optimal swing up and stabilization of an inverted pendulum with input saturation, IFAC World Congress, 2011.
• M. Suzuki and N. Sakamoto: Controlling Ideal Turbulence in Time-delayed Chua's Circuit: Stabilization and Synchronization, International Journal of Bifurcation and Chaos, Vol. 20, Issue 5, pp. 1351-1363, 2010.
• H. Suzuki, N. Sakamoto and S. Celikovsky: Analytical Approximation Method for the Center Manifold in the Nonlinear Output Regulation Problem, Trans. SICE, Vol. 45, No. 9, pp. 451-458, 2009.
• S. Zavadsky, A. Ovsyannikov and N. Sakamoto: Parametric Optimization for Tokamak Plasma Control System 4th International Scientific Conference on Physics and Control, 2009.
• M. Suzuki and N. Sakamoto: A study on controlling ideal turbulence: Stabilization and synchronization of time-delayed Chua's circuits, Trans. SICE, Vol. 45, No. 8, pp. 398-405, 2009.
• M. Suzuki and N. Sakamoto: Synchronizing ideal turbulence and an application to communications, IEICE Trans. on Fundamentals of Electronics, Communications and Computer Science, Vol. J92-A, No. 11, pp. 901-908, 2009.
• M. Suzuki and N. Sakamoto: Controlling ideal turbulence and an application to communications, 48th IEEE Conference on Decision and Control, 2009.
• R. Fujimoto, H. Suzuki and N. Sakamoto: Design of a nonlinear optimal servo system for a magnetic levitation system, Trans. SICE, Vol. 45, No. 7, pp. 388-390, 2009.
• M. Suzuki, N. Sakamoto and K. Naito: Controlling ideal turbulence: stabilization and synchronization, 2nd IFAC Conference on Analysis and Control of Chaotic Systems, 2009.
• Systems and Control, Ohumsha, 2008. (Coauthor)
• N. Sakamoto: A method for solving the Hamilton-Jacobi equation via approximation of stable manifolds, Journal of the Japan Society for Simulation Technology, Vol. 27, No. 4, pp. 221-225, 2008.
• N. Sakamoto and A. J. van der Schaft: Analytical approximation methods for the stabilizing solution of the Hamilton-Jacobi equation, IEEE Trans. Automatic Control, Vol. 53, No. 10, pp. 2335-2350, 2008.
• H. Suzuki and N. Sakamoto and S. Celikovsky: Analytical approximation method for the center manifold in the nonlinear output regulation problem, 47th IEEE Conference on Decision and Control, 2008.
• M. Suzuki and N. Sakamoto: Global stabilization of periodic orbits in chaotic systems by using symbolic dynamics, Proc. the 17th IFAC World Congress , 2008.
• M. Suzuki and N. Sakamoto: A butterfly-shaped localization set for the Lorenz attractor, Physics Letters A, Vol. 372, Issues 15, pp. 2614-2617, 2008.
• M. Suzuki and N. Sakamoto: A study on global stabilization of a class of discrete-time systems by using symbolic dynamics, 3rd International IEEE Scientific Conference on Physics and Control, 2007.
• N. Sakamoto and A. J. van der Schaft: An approximation method for the stabilizing solution of the Hamilton-Jacobi equation for integrable systems---A Hamiltonian perturbation approach, Trans. SICE, Vol. 43, No. 7, pp. 572-580, 2007.
• K. Yamada, I. Jikuya, N. Sakamoto and F. Goto: Pilot-induced oscillation analysis with rate limiter, Journal of the Japan Society of Mechanical Engineers, Series C, Vol. 73, No. 728, pp. 1059-1066, 2007.
• N. Sakamoto and A. J. van der Schaft: An analytical approximation method for the stabilizing solution of the Hamilton-Jacobi equation based on stable manifold theory, 26th American Control Conference, 2007.
• X.-H. Liang, K. Yamada, N. Sakamoto and I. Jikuya: Model predictive controller design to suppress rate-limiter-based pilot-induced oscillations, Trans. of the Japan Society for Aeronautical and Space Sciences, Vol. 49, No. 166, pp. 239-245, 2007.
• N. Sakamoto and A. J. van der Schaft: An approximation method for the stabilizing solution of the Hamilton-Jacobi equation for integrable systems using Hamiltonian perturbation theory, 45th IEEE Conference on Decision and Control, 2006.
• N. Sakamoto: Floquet-based chaos control for continuous-time systems with stability analysis, Physics Letters A, Vol. 356, Issues 4-5, pp. 316-323, 2006.
• N. Sakamoto: A generalization of the OGY control to continuous-time systems using Floquet theory, 16th IFAC World Congress, 2005.
• N. Sakamoto: Tracking control of the n-dimensional rigid body with output feedback, Trans. SICE, Vol. 40, No. 9, pp. 934-937, 2004.
• N. Sakamoto and H. Suzuki: Attitude Control of n-dimensional rigid body with angular velocity observer, IFAC Symposium on Nonlinear Control Systems, 2004.
• H. Suzuki and N. Sakamoto: An observer design and separation principle for the motion of the n-dimensional rigid body, Trans. SICE, Vol. 40, No. 5, pp. 502-508, 2004.
• N. Sakamoto and H. Suzuki: Representation and control of systems on the rotation group, Journal of SICE, Vol. 42, No. 10, pp. 847-852, 2003.
• H. Suzuki and N. Sakamoto: An observer design and separation principle for the motion of the n-dimensional rigid body, Proc. of European Control Conference, 2003.
• N. Sakamoto: Analysis of the Hamilton-Jacobi equation in nonlinear control theory by symplectic geometry, SIAM Journal on Contr. Opt., Vol. 40, No. 6, 1924-1937, 2002.