Department of Electrical Engineering Research Groups

The Engineering Cybernetics Research Group (ECRG)offers a platform for conducting research in the field of cybernetics focused on its applications in control engineering and robotics. The group, headed by Dr. Omer Saleem, is involved in undertaking research and senior-year project work in developing robust-optimal and self-adaptive control procedures for under-actuated mechatronic systems, robots, and energy-conversion systems. The designed control systems are rigorously tested and validated by using experimental platforms; such as, mobile robots, self-balancing robots, ball-on-a-beam system, ball-on-a-plate balancing system, rotary-inverted pendulum, DC motor setup, DC-DC converters, aero-pendulums, CNC manufacturing machines, and robotic manipulators etc. The group also works in the domain of intelligent control system design and its application in robotics, bio-mechatronics, and wireless sensor/actuator networks. The research team consists of FYP, MS and PhD Thesis students, along with faculty members.

Director & PI

      Dr. Omer Saleem

Members

• Ahmad Hamza
  
• Aliha Tanveer
  
• Arsal Javaid
  
• Eman Dar
• Ahmed Sheraz
• Haris Iqbal

External Collaborators

• Dr. Jamshed Iqbal (Abdullah Al Salem University, Kuwait)
• Dr. Mohsin Rizwan (HCR Lab, UET, Lahore)
• Dr. Sultan Alharbi (University of Jeddah, KSA)
• Dr. Faisal Abbas (Research Fellow, CMAC, University of Strathclyde, UK)

Projects

• Fully Automated Central Lathe Machine

• 2 DoF Ball-on-Plate Balancing Control System

• Feedback Control of ZVS Induction Heating Machine

• Stabilization & Steering Control of a Self-balancing Bicycle

• Autonomous Lawn Mower (Ignite Funded)

• Anti-Dozing Device for Drivers (Cliented by: NHMP, Pakistan)

• Retrofitting Level-3 Autonomy to Older Cars

• Smart Self-Adaptive Portable Ventilator Machine

• IoT-based Hospital Bed Occupancy Management System

• SLAM-based Autonomous Robot for Industrial Workspaces

• COVID-19 SOPs Monitoring & Management System using AI-managed Embedded Computer Vision

• Nonlinear-Type Hierarchical Self-Adaptive State-Feedback Control Strategies for Under-actuated Mechatronic Systems

Theses

• Optimization of Output-Voltage Regulation Capability of Boost Converter using Closed-Loop Feedback Control Scheme (2019)

• Development of a Ball-on-a-Beam Balancing Control System (2021)

• Control Optimization of Photovoltaic DC-DC Buck-Boost Converter via weighted Combination of linear Controllers (2022)

• Enhanced Regulation Control of interleaved Boost Converter for Wind Energy Systems (2022)
  

Publications

• Omer Saleem, Mohsin Rizwan, Khalid Mahmood-ul-Hasan, “Self-tuning State-Feedback Control of a Rotary Pendulum System using Adjustable Degree-of-Stability Design,” Automatika, vol. 62, no. 01, pp. 84-97, Jan. 2021. DOI: 10.1080/00051144.2020.1864186.

• Omer Saleem, Khalid Mahmood-ul-Hasan, “Adaptive State-space Control of Under-actuated Systems Using Error-magnitude Dependent Self-tuning of Cost Weighting-factors,” International Journal of Control, Automation and Systems, vol. 19, no. 02, 931 - 941, March 2021. DOI: 10.1007/s12555-020-0209-z.

• Omer Saleem, Khalid Mahmood-ul-Hasan, “Hierarchical Adaptive Control of Self-Stabilizing Electromechanical Systems using Artificial-Immune Self-Tuning Mechanism for State Weighting-Factor,” Journal of Mechanical Science and Technology, vol. 35, no. 03, pp. 1-15, Mar. 2021. DOI: 10.1007/s12206-021-0237-5

• Sheroze Liaquat, Muhammad Salman Fakhar, Syed Abdul Rahman Kashif, Akhtar Rasool, Omer Saleem, Muhammad Zia, Sanjeevikumar Padmanaban, “Application of Dynamically Search Space Squeezed Modified Firefly Algorithm to a Novel Short Term Economic Dispatch of Multi-Generation Systems,” IEEE ACCESS, vol. 9, no. 01, pp. 1918 – 1939, 2021. DOI: 10.1109/ACCESS.2020.3046910.

• Omer Saleem, Khalid Mahmood-ul-Hasan, Mohsin Rizwan, “An Experimental Comparison of Different Hierarchical Self-Tuning Regulatory Control Procedures for Under-Actuated Mechatronic Systems,” PLOS ONE, vol 16, no. 08, Aug. 2021, e0256750; DOI: 10.1371/journal.pone.0256.

• Omer Saleem, Faheem Gohar Awan, Samia Mahmood, Shehroze Liaquat, Hamza Yousuf, “Self-Adaptive Stabilization Control of a Rotary Pendulum using Nonlinearly-Scaled Model-Reference Gain-Adaptation Law,” Journal of Control Engineering and Applied Informatics, vol. 23, no. 03, pp. 62 - 75, Sep. 2021.

• F. Naz, Z. Wajid, A.A. Amin, O. Saleem, M.H. Shahbaz, M.G. Khan, M. Adnan. "PID Tuning with Reference Tracking and Plant Uncertainty along with Disturbance Rejection," Systems Science & Control Engineering, vol. 9 , no. 01, pp. 160 - 166, 2021.

• Omer Saleem, Mohsin Rizwan, Fahim Gohar Awan, “Robustification of the State-Space MRAC Law for Under-Actuated Systems via Fuzzy-Immunological Computations,” Science Progress, vol. 105, no. 03, pp. 1-26, Sep. 2022. DOI: 10.1177/0036850422112229

• Shehroze Liaquat, Muhammad Fahad Zia, Omer Saleem, Zeeshan Asif, Muhammad Benbouzid, “Performance Analysis of Distance Metrics on the Exploitation Properties and Convergence Behaviour of the Conventional Firefly Algorithm,” Applied Soft Computing, vol. 126, 109255, Sep. 2022. DOI: 10.1016/j.asoc.2022.1092

• Omer Saleem, Faisal Abbas, Jamshed Iqbal, “Complex Fractional-Order LQIR for Inverted-Pendulum-Type Robotic Mechanisms: Design and Experimental Validation,” Mathematics, vol. 11, no. 4, 913, Jan. 2023. DOI: 10.3390/math11040913.

• Omer Saleem, Jamshed Iqbal, Shahzad Afzal “A Robust Variable-Structure LQI Controller for Under-actuated Systems via Flexible Online Adaptation of Performance-index Weights,” PLOS ONE, vol. 18, no. 3, e0283079, 2023. DOI: 10.1371/journal.pone.0283079.

• Omer Saleem, “An enhanced adaptive-LQR procedure for under-actuated systems using relative-rate feedback to dynamically reconfigure the state-weighting-factors,” Journal of Vibration and Control, vol. 29, no. 9-10, pp. 2316-2331, 2023. DOI: 10.1177/10775463221078654.

• Omer Saleem, Jamshed Iqbal, “Fuzzy-Immune-Regulated Adaptive Degree-of-Stability LQR for a Self-Balancing Robotic Mechanism: Design and HIL Realization,” IEEE Robotics and Automation Letters, vol. 8, no. 8, pp. 4577-4584, 2023. DOI: 10.1109/LRA.2023.32861.

• Omer Saleem, Shehryaar Ali, Jamshed Iqbal, “Robust MPPT Control of Stand-Alone Photovoltaic Systems via Adaptive Self-Adjusting Fractional Order PID Controller,” Energies, vol. 16, no. 13, 5039, DOI: 10.3390/en16135039.

• Omer Saleem, Jamshed Iqbal, “Complex-Order PID Controller Design for Enhanced Blood-Glucose Regulation in Type-I Diabetes Patients,” Measurement and Control, vol. 56, no. 9-10, pp. 1811-1825, 2023. DOI: 10.1177/002029402311895.

• Omer Saleem, Mohsin Rizwan, Jamshed Iqbal, “Adaptive optimal control of under-actuated robotic systems using a self-regulating nonlinear weight-adjustment scheme: Formulation and experimental verification,” PLOS one, vol. 18, no. 12, e0295153, 2023. DOI: 10.1371/journal.pone.0295153.

• Omer Saleem, Turki Alsuwian, Arslan Ahmed Amin, Shehryaar Ali, Zuhair A. Alqarni, “Stabilization Control of Rotary Inverted Pendulum using a Novel EKF-based Fuzzy Adaptive Sliding-Mode Controller: Design and Experimental Validation,” Automatika, vol. 65, no. 02, 538 - 558, 2024. DOI: 10.1080/00051144.2024.2312309.

• Omer Saleem, Khalid Rasheed Ahmad, Jamshed Iqbal, “Fuzzy-Augmented Model Reference Adaptive PID Control Law Design for Robust Voltage Regulation in DC–DC Buck Converters,” Mathematics, vol. 12, no. 12, 1893, 2024. DOI: 10.3390/math12121893.

• Omer Saleem, Jamshed Iqbal, “Phase-Based Adaptive Fractional LQR for Inverted-Pendulum-Type Robots: Formulation and Verification,” IEEE Access, vol. 12, 93185-93196, 2024. DOI: 10.1109/ACCESS.2024.3415494.

• Omer Saleem, Ahmad Hamza, Jamshed Iqbal, J. “A Fuzzy-Immune-Regulated Single-Neuron Proportional–Integral–Derivative Control System for Robust Trajectory Tracking in a Lawn-Mowing Robot,” Computers, vol. 13, no. 11, 301, 2024. DOI: 10.3390/computers13110301.

• Omer Saleem, Jamshed Iqbal, “Blood-glucose regulator design for diabetics based on LQIR-driven Sliding-Mode-Controller with self-adaptive reaching law,” PloS One, vol. 19, no. 11, e0314479, 2024. DOI: 10.1371/journal.pone.0314479

• Omer Saleem, Muhammad Kazim, Jamshed Iqbal, “Robust Position Control of VTOL UAVs Using a Linear Quadratic Rate-Varying Integral Tracker: Design and Validation,” Drones, vol. 9, no. 1, 73. DOI: 10.3390/drones9010073

• Omer Saleem, M.L. Filograno, S. Alharbi, Jamshed Iqbal, “Hierarchical Fuzzy-Adaptive Position Control of an Active Mass Damper for Enhanced Structural Vibration Suppression,” Mathematics, vol. 13, no. 17, 2816, 2025. DOI: 10.3390/math13172816

• Faisal Abbas, Omer Saleem, L. Wang, Y. Yan, “A Self-Adaptive Fractional-Order PID Controller for the Particle Velocity Regulation in a Pneumatic Conveying System,” Transactions of the Institute of Measurement and Control, vol. 47, no. 11, pp. 2177–2189, 2025. DOI: 10.1177/01423312241277592

• Omer Saleem, Daniyal Ahmed, Jamshed Iqbal, “Fuzzy-Immune Adaptive Fractional-Order LQI Control for Robust and Intelligent Heart Rate Regulation in Cardiac Pacemakers,” Fractal and Fractional, vol. 9, no. 7, 424, 2025. DOI: 10.3390/fractalfract9070424

• Omer Saleem, Aliha Tanveer, Jamshed Iqbal, “Adaptive Reconfigurable Learning Algorithm for Robust Optimal Longitudinal Motion Control of Unmanned Aerial Vehicles,” Algorithms, vol. 18, no. 4, 180, 2025. DOI: 10.3390/a18040180
• Omer Saleem, Muhammad Rafique, Jamshed Iqbal, “LQR-Tuned Self-Regulating Sliding Mode Control of a Boost Converter for Robust Voltage Regulation in DC Microgrids,” Mathematics, vol. 14, no. 6, 1030, 2026. DOI: 10.3390/math14061030