FAÏÇAL MNIF
Department of Electrical and Computer Engineering
College of Engineering
Sultan Qaboos University,
P.O. Box 33 Muscat 123, Oman
Phone: + 968 2414 2534
Fax: + 968 2441 3454
Email: mnif@squ.edu.om; mnif@ieee.org
1. Personal Information and Summary
Date of birth: 13 July 1965
Place of birth: Sfax- Tunisia
Citizenship: Canadian-Tunisian
Marital status: Married with 3 children
Language proficiencies: English, French and Arabic
Summary
I received the National Engineering Degree in Electrical Engineering from the “Ecole Notionale d’Ingenieurs,
University of Sfax, Tunisia in 1988, the M.S. degree in Industrial Electronics from the University of Quebec,
Canada, in 1991 and the Ph.D. Degree from the Ecole Polytechnique de Montréal, University of Montreal,
Canada, in 1997. In 2005 I earned the University Habilitation in Automatic Control from the University of
Sfax. From 1992 to 1996 I have been a part time lecturer in the Department of Automated Production
Engineering at the Ecole de Technologie Supérieure de Montréal, University of Quebec, Canada. From 1996
to 2000 I have been with the Department of Electrical Engineering at the Riyadh Institute of Technology,
KSA. In 2000 I joined the University of Carthage, Tunisia, as an Assistant Professor of Robotics and Control
at the National Institute of Applied Sciences and Technology- INSAT. In 2002, I got a leave from my home
university to join the Sultan Qaboos University (SQU) as an Assistant Professor of Control Engineering in the
Department of Electrical and Computer Engineering (ECE) where I am presently an Associate Professor. At
SQU, I have contributed to the development and the running of the Mechatronics Engineering program
(MCE) and the Electronic Instrumentation and Control (EIC) track in the ECE department. I have been
leading the accreditation process of both the MCE program during 2006-2009 and ECE program during 20112014. My main research interests include the theory and applications of nonlinear control, robotics and
autonomous systems. I have published more than 85-refereed technical articles in the field of Control and
Robotics. I supervised three PhD candidates. I participated in the organization of several international
conferences. I serve as a reviewer for several international conferences and about 15 reputed international
journals. I am a senior member of IEEE.
Curriculum Vitae
Faïçal Mnif
2. Education and Employment Information
2.a. Education
2005
Habilitation in Automatic Control
University of Sfax, Ecole Nationale d’Ingénieurs, Tunisia
Thesis: Contributions to the Control of Constrained Euler-Lagrange Systems
1997
PhD in Robotics and Control,
University of Montreal, Ecole Polytechnique, Canada
Thesis: Dynamics and Control of Mechanical Systems under Holonomic Constraints,
Supervised by the late Prof. E-K. Boukas and Prof. Maarouf Saad
1991
Master of Science in Industrial Electronics,
University of Quebec, Canada
Thesis: Sliding Mode Control of AC-DC Power Electronics Converters
Supervised by Prof. Kamal Al-Haddad and Prof. Yves Dube.
1988
National Engineering Degree in Electrical Engineering (Major: Communications),
University of Sfax, Ecole Nationale d’Ingénieurs, Tunisia
1983
Baccalaureate degree
Ministry of Higher Education in Tunisia
Major: Mathematics
2.b. Employment
1991-1992
Pulp and Paper Research Center of Canada, Trois-Rivieres, Canada
Research Assistant
1992-1996
University of Quebec, Canada
Ecole de Technologie Supérieure de Montréal (ETS), Montreal
Lecturer, Department of Automated Production Engineering
Research Assistant, GREPCI.
1996-2000
Higher Institute of Technology, Riyadh, KSA
Assistant Professor, Department of Electronics Engineering
2000-2002
University of Carthage, Tunisia
National Institute of Applied Scinecs and Technology, INSAT, Tunis
Assistant Professor, Department of Computing and Control Engineering
Assistant Professor, 2000-2006 (On leave since 2002)
Associate Professor, 2006-2012 (On leave)
Professor, 2012- (On leave)
2002-
Sultan Qaboos University, Muscat, Oman.
Department of Electrical and Computer Engineering (ECE)
Assistant Professor, 2002-2007
Associate Professor, 2007- (Promotion date: May 28, 2007)
2/17
Curriculum Vitae
Faïçal Mnif
3. University Teaching and Learning
My goals in teaching are:
i.
To present Electrical and Computer Engineering concepts and techniques to students in an environment
that emphasizes continuous improvement.
ii. To develop classroom and outside work that requires students to think both “inside and outside the box”
of conventional thinking and enable them to develop a sense of their own and their career’s futures.
iii. To work with students in all settings, not just the classroom, to help them develop their learning skills
and technical abilities.
3.a. Teaching Summary
At SQU, I have taught and coordinated several courses at both undergraduate and graduate levels in the
fields of control engineering, robotics, measurements and instrumentation, and general electrical engineering
curriculum.
Courses/Labs taught/supervised and coordinated since fall 2007
Term, year
Course
code
Summer
2015
ECCE5443
Fall 2014
Spring 2014
Fall 2013
Summer
2013
Spring 2013
Fall 2012
Summer
2012
Spring 2012
Fall 2011
Summer
2011
Spring 2011
Fall 2010
1
ECCE5433
MCTE4250
ECCE44161
ECCE5433
MCTE4250
ECCE44161
ECCE5433
ECCE5443
ECCE4422
ECCE5433
ECCE5443
ECCE4416
1
ECCE4422
ECCE4416
ECCE5433
ECCE5443
ECCE4416
ECCE4422
ECCE4416
ECCE5433
Section
taught
Nb.
of
Stude
nts
1
10/11
53
2
20/21
30
1
1
10/11
10/11
21
17
Linear Control Systems
Modern Control Systems
Linear Control Systems
Linear Control Systems
Modern Control Systems
Optimization techniques in
Engineering
Digital Control Systems
Modern Control Systems
Optimization techniques in
Engineering
Linear Control Systems
3
1
1
2
1
20/21
10/11
10/11
20/21
10/11
20
38
24
22
43
1
10/11
48
1
1
10/11
10/11
30
27
1
10/11
45
3
10/11
32
Digital Control Systems
Linear Control Systems
Modern Control Systems
Optimization techniques in
Engineering
Linear Control Systems
Digital Control Systems
Linear Control Systems
Modern Control Systems
1
1
1
10/11
10/11
10/11
34
38
29
1
10/11
42
2
1
2
1
20/21
10/11
20/21
10/11
23
48
26
29
Course title
ECCE3036
Spring 2015
Nb.
of
secti
ons
1
Optimization Techniques in
Engineering
Measurements and
Instrumentation
Modern Control Systems
Linear Control Systems
Course coordinator
3/17
Curriculum Vitae
Faïçal Mnif
ECCE4422
Spring 2010
Digital Control Systems
Special topics in Control
Eng.
Special topics in Control
Eng.
Modern Control Systems
Linear Control Systems
Mechatronics System
Design
1
10/11
30
1
10/11
22
1
10/11
2
1
1
10/11
10/11
26
16
1
10/11
30
ECCE44162
Linear Control Systems
2
ECCE4422
ECCE4416
Digital Control Systems
Linear Control Systems
1
2
10/11
20/21
10/11
20/21
43
34
28
32
ECCE5433
Modern Control Systems
Linear Algebra and
Multivariable Calculus
Linear Control Systems
Modern Control Systems
Linear Control Systems
Digital Control Systems
1
10/11
31
3
30/31
36
2
1
1
1
20/21
10/11
10/11
10/11
26
29
34
30
ECCE5422
ECCE6492
Fall 2009
ECCE5433
ECCE4250
ECCE4255
Spring 2009
Fall 2008
Summer
2008
Spring 2008
Fall 2007
MAT3171
ECCE4416
ECCE5433
ECCE4416
ECCE4422
1
In addition to the above, I have previously taught the following courses
Fundamentals of Electrical Engineering
(service course)
ECCE3036 Electric Circuits II
ECCE3142 Signals and Systems
ECCE6132 Linear Systems Theory (graduate)
Industrial Automation and Robotics
ECCE6323 (graduate)
MCTE5142 Robotics
MEIE4183 Numerical Methods for engineers
ECCE3015
3.b. Final Year Project Supervision
At SQU, I have supervised about 80 undergraduate students in 27 group projects from both ECE and MCE
programs, with an average of three students per project.
List of projects I have supervised at SQU
2014-2015
Fuzzy logic based control for landscape irrigation (ECE)
Design and implementation of an anti-collision system for automobiles (MCE)
2013-2014
Computer-based state feedback controller for an inverted pendulum (ECE)
2012-2013
Control of inverted pendulum with wireless communication links (ECE)
2011-2012
Design and implementation of a SCARA-like robot manipulator-2nd generation (MCE)
2010-2011
Design and implementation of an adaptive cruise control (ECE)
Design and implementation of a SCARA robot manipulator (MCE)
4/17
Curriculum Vitae
Faïçal Mnif
2009-2010
Gas breakthrough control performance evaluation in the fields of Fahud and Nath (MCE)
Design and implementation of a robotic arm for stroke rehabilitation (MCE)
Design and implementation of sensory system for interactive spider robot (ECE)
Real-time wireless monitoring and control of an automated -irrigation system (ECE)
Implementation of a dual-tank digital control with wireless loop (ECE)
2008-2009
Design and implementation of a spider-like robot (MCE)
Design and implementation of an automatic marine navigation system (ECE)
Design and implementation of a micro-controller-based irrigation system (ECE)
2007-2008
Modeling, design and control of a passive bipedal walking machine (MCE)
Behavior based control of a robotic based navigation aid for the blind (MCE)
2006-2007
Design and implementation of a Hexapod walking machine (MCE)
Design and implementation of an autonomous biped robot (MCE)
Design and implementation of a magnetic levitation control system (ECE)
2005-2006
Design and implementation of a thermo-cycler for PCR analysis (ECE)
Power system stabilizer design to improve dynamic stability (ECE)
2004-2005
Self-tuning irrigation system (ECE)
2003-2004
Computer based measurement system (ECE)
Development of computer-based diagnosis system for medical emergency (ECE)
2002-2003
Computer control irrigation system (ECE)
3.c. Personal professional development in university teaching and learning
Upon joining SQU, I have attended workshops organized by the CET at SQU on web-based teaching and
learning, notably in 2010 on the Moodle management system, Moreover,
On April 7, 2010 (SQU-Oman), I attended a workshop on “Sustainable Program Assessment” conducted
by Dr. Gloria Rogers from ABET, Inc. The workshop was held at SQU
On April 14, 2011 (Indianapolis-USA), I attended a workshop on Continuous Quality Improvement: Are we
there yet. By Dr. Gloria Rogers, ABET, Inc.
On February 14-15, 2012 (SQU-Oman), I attended a workshop on program assessment conducted by Dr.
Ashley Kranov, managing director of professional Services, ABET Inc. at SQU
On April 5, 2014 (Pittsburgh-USA), I attended a workshop on “Program Assessment”, conducted by Dr.
Gloria Rogers, former managing director, ABET and Dr. Daina Briedis,
On April 23-24, 2015 (Atlanta-USA), I gained the equivalent of 14 professional development hours for my
participation in the 2015 ABET symposium, Atlanta USA.
On April 25, 2015 (Atlanta, USA), I attended a workshop on “Advanced Program Assessment”, conducted by
Dr. Daina Briedis and Dr. James Warnock Atlanta, USA.
On May 26-28, 2015 (SQU-Oman), I attended a workshop conducted by Dr. Nikos Mourtous, Director of
Aerospace Engineering at San José State University on “How to Teach Engineering Students Process Skills”.
The workshop was held at SQU.
5/17
Curriculum Vitae
Faïçal Mnif
3.d. Scholarship in university teaching and learning
[JR1]
F. Mnif, M. Ould-Khaoua, J. Jervase and N. Hosseinzadeh, “ A cooperative Assessment and
Evaluation Scheme of ABET Student Outcomes in ECE programs, A case Study” under
review in The Journal of Engineering Research.
[C1]
F. Mnif, J. Jervase, M. Ould-Khaoua, and N. Hosseinzadeh “Collective assessment pattern
toward ABET accreditation of the ECE program”, Proceedings of the IEEE-GCC Conference
and Exhibition, Muscat, Oman February 1-4 2015.
[C2]
F. Mnif, A. Al-Harthi, “Cooperative approach toward ABET accreditation” presented at the
2014 ABET annual Symposium, Pittsburgh, PA, April 3-4.
4. SCHOLARSHIP
4.b. PhD Supervision
I have been the main PhD dissertation supervisor for:
1. Dr. Jawhar Ghommam (University of Orleans, France, University of Sfax, Tunisia,)
PhD Thesis: Nonlinear Control of Underactuated Surface Vessels (2005-2008)
Dr. Ghommam defended his thesis in March 2008.
Summary of the thesis: This thesis addressed the problem of controlling an underactuated marine vehicle
system. The key motivation for this research topic stemmed from the fact that underactuated systems pose
considerable challenges to control system designers since smooth, time-invariant, state-feedback control laws
cannot stabilize those systems. Furthermore, in spite of the number of methods available for the control of
underactuated mechanical systems, few addressed important practical topics such as the explicit inclusion of
dynamics in the control problem formulation and the need to cope with environmental disturbances due to wind
and wave currents. The thesis tackled some of these issues, formulated and solved control problems related to
dynamic positioning, trajectory tracking and path following, and discussed the application of the new control
methodologies derived to marine vehicles like surface vessel-type ships. Out of this thesis, we published papers
[J6], [J7], [J9], [J11], [J12], [J14] and [J15].
2. Dr. Sonia Mahjoub (University of Sfax, Tunisia)
PhD Thesis: Sliding Mode Control of Underactuated Manipulators (2008-2013)
Dr. Mahjoub defended her thesis in June 2013
Summary of the thesis: The control of underactuated mechanical systems, which are systems with more
degrees of freedom than actuators, presents a significant control challenge. Since standard methods are not
appropriate to control those typical systems because they fail to satisfy the Brocket’s necessary conditions of
existence smooth and time-invariant controls. In this thesis, the candidate adopted two different approaches:
First, a sliding mode with adaptive law. Then, a hybrid control combining a sliding mode control and a neural
network. Out of this thesis, we published papers [J1], [J2] and [J7].
Currently, I am supervising the PhD student
3. Yosra Rkhisi (University of Sfax-Tunisia and University of Paris 11-Sud)
PhD Thesis: robust control of an electric vehicle with trails (2013- ), Ongoing
6/17
Curriculum Vitae
Faïçal Mnif
Proposal: The global automotive market is changing for two main reasons: The first is the reduction of fossil
fuel reserves and the second is the awareness of the impact of emissions on global warming .The various
international standards require manufacturers to optimize conventional drivelines but especially to develop
other alternative powertrain , one of the most promising is the electric vehicle. Nevertheless, these new drives
must guarantee the same performance and the same level of dependability, (reliability and security in this
case). In the context of this thesis, we aim to develop a new fault tolerant control architecture for an electric
vehicle with trails with multiple sources and energy storage devices (batteries, fuel cells, super capacitors).
4. c. Research grants
1. SQU Internal Grants
2013-2015
(PI) Dynamics and control of an inverted pendulum with delayed feedback control:
Understanding the human balance control. (IG/ENG/ECED/13/03): Budget: US$ 15000
Summary: The inverted pendulum is frequently used as a starting point for discussions of
how the human balance is maintained during standing and locomotion. We examine three
experimental paradigms of time-delayed balance control: 1) the mechanical inverted pendulum
with fixed time-delayed, 2) the mechanical inverted pendulum with random time delay, and
3) the mechanical inverted pendulum with random time generated by a
wireless
communication link to simulate the human case. As a first attempt to solve the problem, we
considered fixed time delay. The inverted pendulum is a special class of underactuated
mechanical systems with two degrees of freedom and a single control input. In the presence of
time delays, these control techniques may result in inadequate behavior and may even cause
finite escape time in the controlled system. In this research, we designed a constructive method
to design a controller for an inverted pendulum characterized by a time-delayed balance
control. First, a partial feedback linearization control for the inverted pendulum is modified
and coupled with a state predictor to compensate for the delay. Second, nested saturation and
backstepping techniques are combined to derive the control law of the transformed system
that would complete the design of the whole control input. Paper [JR2] is an output out of
this research.
2010-2011
(Co-I) with Dr. Nasser Tarhuni Study and Evaluation of Wireless Automation. US$ 12000
Summary: In this research, we have investigated different wireless technologies and
determined which one is more suitable for wireless automation applications. Also the effect of
wireless links on the control loop have been investigated. Two final year project students
worked on the project and succeeded to implement the wireless system on the prototype.
They also succeeded to stabilize the system subjected to a minor delay.
2007-2008
(P-I) Control and Localization of Underactuated Ships. (IG/ENG/ECED/07/03). Budget: US
$ 12,000.
Summary: This research was devoted to the problem of controlling underactuated marine
surface vessels. The key motivation for this research topic stems from the fact that
underactuated systems pose considerable challenges to control system designers since smooth
time-invariant state feedback control laws cannot stabilize those systems. Furthermore, in
spite of the number of methods available for the control of underactuated mechanical system,
few address important practical topics such as the explicit inclusion of the full dynamics in
the control problem formulation and the need to cope with environmental disturbances due to
wind and wave currents. In this research, we have tackled some of these issues, formulated
and solved control problems related to dynamic positioning, trajectory tracking and path
following. Coordination of multiple underactuated agent systems along given paths has also
been investigated. Two groups of students have worked on this project in their final year
project. [J11] is the publication generated out of this grant.
7/17
Curriculum Vitae
2006- 2007
(Co-I) Design and Implementation
(IG/ENG/ECED/06/04) US $ 26000.
Faïçal Mnif
of
Sun
Tracker
for
Solar
Power
System.
Summary: The aim of this project was to implement a hardware system of a sun tracker
using two axes mechanism thus enables pointing the solar array at any vector in the space.
2005-2006
(Co-I) with Dr. Amer Al-Yahmadi A fuzzy logic based navigation of a remotely operated
vehicle. (IG/ENG/ECED/05/08). Budget: US $ 10,000
Summary: In this project, a fuzzy-logic based approach was implemented for the localization,
mapping and navigation of mobile robots. In this project, we had to deal with the large
amount of uncertainties that has to do with the sensory information received by the robot as
well as with the fact that the environment in which such robots operate contains elements of
dynamics and variability that limit the utility of prior knowledge. One master candidate was
involved in the project. Paper [J11] is an output of this project.
2003-2005
(P-I) Self tuning solar energy irrigation system prototype: Budget: US $ 15,000.
(IG/ENG/ECED/03/02) The project was achieved in December 2005.
Summary: This project proposed the study and the implementation of a prototype of a fully
automated self-tuning irrigation system. By the use of appropriate sensors and an intelligent
control system, the operation of irrigation occurs autonomously under specific weather
condition, plant water needs, the nature of soil and water availability. The grant allowed
three groups of final year students work on their graduation projects and to come up with a
portable prototype. [J13] is a publication in relation to this project.
2. Cooperation with international Universities
2007-2009
Cooperation project with Prof. Bernard Brogliato, INRIA (France): (DRGST-INRIA 07/11).
Budget: 10,000.00 Euros.
Title: Controllability of underactuated non-smooth mechanical systems.
Summary: In this research, we extended the results of Prof. Brogliato on the controllability
of non-smooth mechanical systems to include the under-actuation. We studied the properties
of these systems with respect to the controllability and stability. We also studied the
application of some control approaches for the stabilization of these systems.
2007-2009
Cooperation project with Prof. Gerald Poisson, University of Orleans, France: (CMCU 07G
1120). Budget: 25,000.00 Euros.
Title: Mobile robots, modeling, and control. .
Summary: Different areas and applications are interested in applications of mobile
manipulation: Robots for and home assistance for people with reduced mobility are an
example. This issue is very particular because of modeling and control aspects of such a
structure. During the evolution of the whole, constraints related to the coordination between
the mobile carrier and the handling robot must be taken into account.
The goal of the project was to design and implement control techniques of an experimental
platform for the cooperation between mobile manipulators. We studied the conditions of
stabilization, control and coordination of movements. Such structures are redundant with a
dynamic system that changes in the presence of unknown dynamical environment.
8/17
Curriculum Vitae
Faïçal Mnif
4. d. List of Publications in International refereed Journals /Conferences
Papers under review/in preparation
[JR2]
“Predictor-based Control for an Inverted Pendulum subject to networked time delay”
submitted to ISA Transactions.
[JR3]
“Predictor-based Output Feedback for 3-D Tracking Control of a Quadrotor” in preparation.
Published papers
[J1]
[J2]
[J3]
[J4]
[J5]
[J6]
[J7]
[J8]
[J9]
[J10]
[J11]
[J12]
[J13]
[J14]
[J15]
Mahjoub, S., Mnif, F. and N. Derbel “Second order sliding mode control applied to inverted
pendulum Springer, International Journal of Automation and Computing, 4, 2, 134-141.
(2015).
Mahjoub, S., Mnif, F. N. Derbel and M. Hamerlain , “Radial-basis functions Neural Network
Sliding Mode Control for Underactuated Manipulators” Springer, International Journal of
Dynamics and Control, 12, 2, 533-541. (2014).
Ghommam, J., Mnif, F., Calvo, O., “Formation Control of Multiple Marine Vehicles with
Velocity Reference Estimation-based Passivity-Control Design” International Journal of
Modeling, Identification and Control, 15, 2, 97-107. (2012).
Ghommam, J., Mehrjerdi, H. Saad, M., and Mnif, F., “Adaptive Coordinated Path
Following Control of Nonholonomic Mobile Robots with Quantized Communication”. IET
Control Theory, vol. 5, No. 17, (2011).
Mnif, F., and Metwally, K. “Particle Swarm Optimization of a Discontinuous Control for a
Wheeled Mobile Robot with two Trailers”, Int. Journal of Computer Applications in
Technology, 41 (2011), 169-176. (2011).
Ghommam, J., Mehrjerdi, H., Mnif, F. and Saad M., “Cascade Design for Formation
Control of Nonholonomic Systems in Chained form” The Journal of the Franklin Institute, vol.
348, 973-998. (2011)
S. Mahjoub, Mnif F., and N. Derbel, “Set point stabilization of a 2-DOF underactuated
manipulator” Journal of computers, 6, 368-376. (2011).
Ghommam, Mehrjerdi, H., J., Saad, M. and Mnif F. ’’ Formation Path Following Control of
Unicycle Type Mobile Robots’’ Robotics and Autonomous Systems, 58. 727-736. (2010).
Ghommam, J., Mnif, F. and N. Derbel ‘’Global Stabilization and Tracking of Underactuated
Surface Vessels”, IET Control Theory and Applications, vol.4, Issue. 1. 71-88. (2010).
Turki, K. Smaoui, M. Thomasset D., Mnif, F., and Derbel, N., “Input-to-State Stability for a
Nonlinear Robust Tracking Control Law with Application to an Electropneumatic System”,
Transactions on Systems, Signals and Devices, 5, 1, 1-17. (2010).
Ghommam. J. Mnif, F., ‘’Coordinated path following control for a group of Underactuated
Surface Vessels" IEEE, Transactions on Industrial Electronics, 56, 10, 3951-63, (2009).
Ghommam, J., Mnif, F., BenAli, A., and Derbel, N.”Nonsingular based Serret-Frenet path
following for underactuated marine surface vessels” ASME Transactions, Journal of Dynamic
Systems Measurement and Control, vol. 131 vol. 131, 0210061-8. (2009).
F. Mnif, “New Tuning rules for PI-Like Controllers with Transient Performances for
Monotonic Time-Delay Systems” ISA Transactions. Vol. 47, No 4, 401-406 (2008).
Ghommam, J., Mnif, F., BenAli, A, and Derbel, N., “On the Dynamic Properties and
Control of an Underactuated Surface Vessels,’’ International Journal of Modeling
Identification and Control Vol.2, No1, 49-57, (2007).
Mnif, F. Gastli, A., Jallouli, “Adaptive ANN Based Control for Constrained Robot
manipulators,” International Journal of Intelligent Systems Technologies and Applications,
Vol. 2, 1, 77-99, (2007).
9/17
Curriculum Vitae
[J16]
[J17]
[J18]
[J19]
[J20]
[J21]
[J22]
[J23]
[J24]
[J25]
[J26]
[J27]
[J28]
[J29]
[J30]
[J31]
[J32]
Faïçal Mnif
Mnif, F. Mixed VSS swinging-Up/Balancing Stabilization of a Rotating Pendulum.
International Journal of Modeling Identification and Control, Vol. 1 No 4, 257-262, (2006).
Ghommam, J., Mnif, F., BenAli, A, and Derbel, N., “Asymptotic backstepping Stabilization
of an Underactuated Surface Vessel, IEEE Trans. Control Systems Technology, Vol. 6, 14,
1150-1157, (2006).
Maalouf, E. Saad, M., Saliah H., and Mnif, F. ‘’Integration of Novel Path Planning and
Control Technique in a Navigation Strategy,’’ International Journal of Modeling
Identification and Control, 1 (1), 52-62, (2006).
Touati, F., Mnif, F., and Al-Lawati, A., “High Temperature Electronics-Status and Future
Prospects in the 21st Century,” The Journal of Engineering Research, Vol. 3, 1, 43-54, (2006).
Mnif, F., and Touati, F., “An Adaptive Control Scheme for Nonholonomic Mobile Robot
with Parametric Uncertainty” International Journal of Advanced Robotic Systems, Volume 2,
Number1, 59-63 (2005).
Mnif, F., and Yahmadi A.S., ‘’Recursive Backstepping Stabilization of a Wheeled Mobile
Robot’’, Proceedings of the Institute of Mech. Eng. Part I, Journal of Systems and Control
Engineering, 219, 6, 419-429, (2005).
Mnif, F., and Ghommem, J. ‘’Genetic Algorithms Adaptive Control for an Underactuated
System,’’ International Journal of Computational Cognition, 3, (1), 12-20, 2005.
Mnif, F., Touati F., ‘’ An Adaptive Control Scheme for Nonholonomic Mobile Robot with
Parametric Uncertainty’’, International Journal of Advanced Robotic Systems, Volume 2, 1,
59-63 (2005).
Touati, F. Mnif, F., ‘’Low Noise Low-Power 0.35 m SiGe amplifiers for 3.1-10.6 GHz UWB
radio Receivers,’’ Electronics Express,
Institute of
Electronics, Information and
Communication Engineers (IEICE), 1, 11, 317-321, (2004).
Mnif, F., “Recursive Backstepping Stabilization of a Wheeled Mobile Robot” International
Journal of Advanced Robotic Systems, Volume 1, Number 4, 287-294 (2004).
Mnif, F., ‘’Robust Feedback Linearization Control for Constrained Mechanical Systems,’’
Proceedings of the Institute of Mech. Eng. Part I, Journal of Systems and Control
Engineering, Vol. 218, 4, 299-310, (2004).
Mnif, F., ‘’A Mixed Optimal/Robust Control for Robot Manipulators,’’ Proceedings of the
Institute of Mech. Eng. Part I, Journal of Systems and Control Engineering, Vol. 218, 4,
311-321, (2004).
Mnif, F., ‘’A Robust Optimal Control for Constrained manipulators,’’ Proceedings of the
Institute of Mech. Eng. Part I, Journal of Systems and Control Engineering, Vol. 218, 5,
331-342, (2004).
Mnif, F., ‘’On the Reduction and Control of Underactuated Nonholonomic Systems, Journal
of Electrical Engineering,’’ 54 (1-2), pp 22-29, (2003).
Mnif, F., ‘’A Robust Continuous State Feedback Current Control for Induction Motor
Drives,’’ Journal of Electrical Engineering, 54 (11-12), pp 324-326, (2003).
Mnif, F., Saad, M. and Boukas E-K., ‘’Robust Control for Constrained Manipulators,’’ Trans.
of the ASME, Journal of Dynamic Systems, Measurement and Control, 1, 329-334, (1999).
Mnif, F., Saad, M. and Boukas E-K., An Adaptive Sliding Mode Control for Manipulators
Under Holonomic Constraints, IEEE, Canadian Journal of Electrical and Computer
Engineering, 4, 77-83, (1996).
Refereed conference papers
[C3]
[C4]
Y. Rkhissi, J. Ghommam, M. Boukhnifer, and F, Mnif, ‘’Rise Backstepping Control for
Induction Machine in EV application” 23rd Mediterranean Conference on Control and
Automation, June 16-19, 2015. Torremolinos, Spain
Y. Rkhissi, J. Ghommam, M. Boukhnifer, and F, Mnif, ‘’Rise Feedback Control for induction
machine” SSD 2105. Conference on Systems Analysis and Control, Sfax, Tunisia, 2015.
10/17
Curriculum Vitae
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Faïçal Mnif
Mahjoub, S., F. Mnif, and Derbel, N. “Second order sliding mode applied to an inverted
pendulum” in Proceedings of the 18th International Conference on Circuits, Systems,
Communications and Computers. Greece July 17-21, 2014.
Mahjoub S., F. Mnif, and Derbel, N., “Radial-Basis-Functions Neural Network Sliding mode
for underatuated manipulators” SSD 2013, Hammamet, Tunisia
J. Ghommam, Y. Bouterra, and F. Mnif “Distributed Backstepping Control for
Synchronization of Networked class of Underactuated Systems: A Passivity Approach” 2011
IEEE Mediterranean Control Conference.
Mahjoub, S., F. Mnif, and Derbel, N., “Adaptive VSS Control for Underactuated
Manipulators” SSD’11.
Jawhar Ghommam, Maarouf Saad, Faiçal Mnif: Robust adaptive formation control of fully
actuated marine vessels using local potential functions. ICRA 2010: 3001-3007
Jawhar Ghommam, Hasan Mehrjerdi, Maarouf Saad and Faiçal Mnif, " Real-Time Five
DOF Redundant Robot Control using a Decentralized Neural Scheme ", IEEE International
Conference on Robotics and Automation, May 3-8, 2010, Anchorage, Alaska, USA
Ghommam J., Calvo., O. Mnif, F., “Adaptive Output Feedback for maneuvering Control of
Marine Craft” 2009 Mediterranean Control Conference.
Ben Amor, B., Khraief, N. and Mnif, F. “Controllability Analysis of 1-DOF Juggling
System” IEEE SSD’09.
Ghommam, J., Mnif, F., and Calvo, O. “Formation Control of Multiple Marine Vehicles
Based on Passivity Control Design”, IEEE SSD’09.
Turki, K., Smaoui, M., Thomasset, D., Mnif, F., and Derbel, N., “A Passivity Based Control
of an Electropneumatic Actuator with Mass Variation” IEEE SSD’09, Djerba, Tunisia.
Mahjoub, S., Mnif, F., Derbel, N. Robust Sliding Mode Control Applied to Double Inverted
Pendulum System“, the 2nd Mediterranean Conference on Intelligent Systems and
Automation (CISA'09), Zarzis, Tunisia.
Mnif, F., and Metwally, K. “Particle Swarm Optimization of a Discontinuous Control for a
Wheeled Mobile Robot with two Trailers”, International Conference of Modeling,
Identification and Control, ICMIC’08, Shanghai, Jun, 29-Jul-2.
Mahjoub, S., Mnif, F., Derbel, N. “Variable structure control for set-point stabilization of 2DOF underactuated manipulators” 5th International Multi-Conference on Systems, Signals
and Devices, 2008. IEEE SSD, Amman, Jordan, 2008.
Mahjoub, S., Mnif, F., Derbel, N. “A sliding mode control applied to whirling pendulum”
2nd International Conference on Signals, Circuits and Systems, Hammamet, Tunisia 2008.
SCS
Ghommam, J., Mnif, F., and Saad, M. “Formation Path Following Control of unicycle-type
mobile Robots” IEEE, International Conference on Robotics and Automation, ICRA, Los
Angeles, 2008, 1966-1972.
Ghommam, J., and Mnif, F., ‘’Backstepping Technique for tracking control of an
underactuated surface vessel with unmeasured thruster dynamic”, 17th IFAC World Congress,
Seoul Korea 2008.
Turki, K Smaoui, M. Thomasset, D. and Mnif, F., “Nonlinear Passivity Based Control Law
with Application to Electropneumatic System”, 17th IFAC World Congress, Seoul Korea 2008.
Ghommam, J., Mnif, F., A. BenAli and Poisson, G. ‘Observer design for Euler Lagrange
system: Application to path following control of an underactuated surface vessel” IEEE,
International Conference on Intelligent Robots and Systems, IROS’2007, Oct. 29- Nov 2, San
Diego.
Ghommam, J., Mnif, F., A. BenAli and Derbel, N ‘Formation Control of a group of
underactuated ships” OCEANS'07 IEEE/MTS, Aberdeen, Scotland, 18-21 June 2007.
11/17
Curriculum Vitae
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Mnif, F., “Nonlinear Control of Underactuated Underwater Vehicle”, Fourth IEEE
International Conference on Systems, Signals & Devices SSD'07, Hammamet, Tunisia, 21-24
March 2007.
Ghommam, J., Mnif, F., and Derbel, N ‘’Guidance Based Path following Control for an
Underactuated Ship” Fourth IEEE International Conference on Systems, Signals & Devices
SSD'07, Hammamet, Tunisia, 21-24 March 2007.
Ghommam, J., Mnif, F., and Derbel, N ‘’Robust Path Following Control of Underactuated
Ships” Fourth IEEE International Conference on Systems, Signals & Devices SSD'07,
Hammamet, Tunisia, 21-24 March 2007.
Ghommam, J., Mnif, F., and Derbel, N ‘’Formation Control Based Path Following:
Application to a Double Integrator Fourth IEEE International Conference on Systems,
Signals & Devices SSD'07, Hammamet, Tunisia, 21-24 March 2007.
Mnif, F., Discontinuous Control Scheme for a Wheeled Mobile Robot with Two Trailers,
International Conference on Advances in Mechanical Engineering and Mechanics, ICAMEM,
Tunisia 2006.
Ghommam, J., Mnif, F., and Derbel, N., Backstepping Technique for the Tracking Control
of an Underactuated Surface Vessel, au 7th IFAC Conference on Maneuvering and Control of
Marine Craft (MCMC’2006), Portugal.
Al-Wahaibi S. Al-Ouafi, N., and Mnif, F., ‘’New Tuning Rules for PI Controller with
transient performances’’, 3rd International Symposium on Mechatronics, AUS, Sharjah (UAE),
2006.
Ghommam, J., Mnif, F., and Derbel, N., Path Following for Underactuated marine craft
Using Line of Sight Algorithm, International Conference in Machine Intelligence, ACIDCAACM ’2005, Tozeur-Tunisia.
Ghommam, J., Mnif, F., BenAli, A, and Derbel, N., “Adaptive backstepping Stabilization of
an Underactuated Surface Vessel subject to unknown external” Forces” IEEE International
Conference on Decision and Control and The European Control Conference CDC-ECC’05.
Ghommam, J., Mnif, F., BenAli, A, and Derbel, N., “Asymptotic backstepping Stabilization
of an Underactuated Surface Vessel, SSD’05.
Mnif, F, Ben Amor, B., Jallouli, M., and N. Derbel, Adaptive Neural Network Control for
Constrained Manipulators, Third IEEE International Conference on Systems, Signals &
Devices SSD'05, .
Al-Yahmadi, A.S., Mnif, F., and Abdo, J. Modeling and Control of Two manipulators
Handling a Flexible Object, 1st Int. Conf. on Modeling, Simulation and applied optimization,
Sharjah, 2004.
Mnif, F., An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric
Uncertainty, 10th International Symposium on Robotics and Applications - World
Automation Congress, WAC-ISORA 2004, Espagne, 28 juin-1er juillet 2004.
Mnif, F., Recursive Backstepping Stabilization of a Wheeled mobile Robot, 1st IEEEEURASIP Symposium on Control, Communications, and Signal Processing, ISCCPS 2004,
Hammamet, Tunisia. March 22-24 2004.
Mnif, F., Stabilization of Nonholonomic Wheeled Mobile Robot, 1er IEEE Congrès
International de Signaux Circuits et Systèmes, Monastir, Tunisie. 18-21 Mars 2004.
Mnif, F., VSS Control for a Class of Underactuated Systems, 10th IEEE International
Conference on Electronics Circuits and Systems, ICECS 2003, Sharjah, UAE, December 1417 2003
Mnif, F., Robust Optimal Control for Robot manipulators, 3rd Int. Conf. on Instrumentation,
Measurement, Control, Circuits and Systems, IMCCAS 2003, Malta, September 1-3 2003.
12/17
Curriculum Vitae
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Faïçal Mnif
Mnif, F., GA optimization of a Sliding Mode Control for an Underactuated System, 2nd
International Conference on Signal Processing, Robotics and Automation, ISPRA 2003
August 11-13, 2003
Mnif, F., VSS control for a class of underactuated systems, 7th International Conference on
Systems, ICS 2003, Corfu, Greece, 7-10 July 2003.
Mnif, F., "A Robust Continuous State Feedback Current Control, for Induction Motor
Drives, 2nd IEEE International Conference on Signals, Systems, Decision & Information
Technology SSD'2003 , Sousse, Tunisia, March 26-28, 2003
Mnif, F., Robust Stabilization of an Underactuated System IEEE International Conference
on Systems Man and Cybernetics, Hammamet, Tunisia, 6-8 October 2002,
Mnif, F. and G. Ghommam, Genetic Algorithms Control of an Underactuated System, IEEE,
International Conference on Robotics, Signal Processing and Vision, Penag, Malaysia, 22-25
January 2003,
Mnif, F., Akhrib, D. and Benselama, A. A Modified VSS Control for a class of nonlinear
Systemss, STCEX, Saudi Arabia, 2000.
Akhrib, D., Mnif, F. and Benselama, A., A new Microprocessor-based Switching Strategy for
Use in Three-Phase Induction Motor Drives, STCEX, Saudi Arabia, 2000
Mnif, F., Noureddine, A. and Benselama, A., Robust zero error convergence for uncertain
constrained manipulators, 6th IEEE Annual Technical Meeting, Dhahran, KSA, 122-124,
1999.
Mnif, F., Noureddine, A. and Benselama, A. LQG/LQR based control for an integrated
heating system, 6th IEEE Annual Technical Meeting, Dhahran, KSA, 122-124, 1999.
Benselama, A., Mnif, F. and Noureddine, A., Harmonic reduction control for induction
motor drives, 5th IEEE Annual Technical meeting, Dhahran, KSA, 1998.
Mnif, F. Boukas, E-K, and Saad, M., A Robust feedback linearization control for constrained
manipulators, IFAC, Symposium on Robot Control. Nice, 1997
Mnif, F. Saad, M., and Boukas, E-K, A Robust control for constrained manipulators, IFAC,
Symposium on Robot Control. Nice, 1997
Mnif, F. Saad, M., and Boukas, E-K, A robust adaptive approach for force/motion control of
manipulators under holonomic constraints, Proc. of the IEEE, Canadian Conference on
Electrical and Computer Engineering, pages, 18(5-9), 1995.
Mnif, F. Saad, M., and Boukas, E-K, Interaction des robots manipulateurs avec leurs
environnement de travail, Proc. of the International Symposium of Industrial Engineers.
Montreal, Session Robotics, 1995
Mnif, F. and Koran, Z. Microwave and Hyperfrequencies drying application for Kraft paper,
International Conference on Pulp and Paper, Montreal, Canada, 1992
Mnif, F., Al-Haddad, K., and Dube, Y., Etude comparative de la commande par mode de
glissement et par approche geometrique appliqué a un onduleur de tension, Proc. of the
IEEE, Canadian Conference on Electrical and Computer Engineering, pages 34(5-9). 1991
Mnif, F., Dubé, Y., and Al-Haddad, K., Nouvelle approche de commande des convertisseurs
électronique de puissance, Proc. of the IEEE, Canadian Conference on Electrical and
Computer Engineering, pages 18(1-4), 1990.
Technical reports
[TR1]
Mnif, F. Control of an inverted pendulum with time delayed feedback control, 2015
[TR2]
Mnif, F. Control and Localization of Underactuated Surface Vessels, 2009
[TR3]
Mnif, F. Self-Tuning Irrigation Systems, 2006.
[TR4]
Mnif, F. On the Control of Nonholonomic Mechanical Systems, 2005
[TR5]
Mnif, F. Optimal Control of Rigid bodies, 2001
13/17
Curriculum Vitae
Faïçal Mnif
4. e. Recognition and leadership in scholarship
Over the past 13 years, I have contributed with an important amount of relatively high quality research work.
Scopus Report Analysis: I have 51 documents registered in Scopus. With 459 citations (379 after 2010)
and an H-index excluding self-citations of nine. Papers [J16], [J7], [J10] and [J8] are cited 64, 57, 41 and 38
times respectively. Overall, the report indicates 40 cited papers. The report indicates 30 cited papers.
Google Scholar Report Analysis: I have 60 documents registered in Google scholar. With 328 citations
and an H-index excluding self-citations of ten. Papers [J7], [J16], [J10] and [J8] are cited 81, 79, 53 and 48
times respectively. The report indicates 40 cited papers.
Leadership in international scholarly committees: In another perspective, in 2007, 2009, 2011, and 2013,
I have served as the Scientific Program Committee Chair for the Conference on Systems Analysis and Control
(SAC) of the International Multi-conference on Signal Systems and Devices, SSD. I have coordinated the
review of more than 150 papers at each time. I have also organized and chaired the special session on
Adaptive and non-Adaptive Backstepping Control Techniques of the 8th conference of the SSD in 2011. Since
2009, I serve as a member of the editorial board for the International Journal of Modeling, Identification and
Control, Inderscience, Inc. I have also been the guest for three issues of journal, namely, Vol. 2, No 1, 2007,
Vol., No 4, 2008, and Vol. 15, No2, 2012. In all those issues, I have selected eight to ten papers from more
than hundred papers presented at the SSD-SAC conferences in 2005, 2007 and 2009. I have organized the
complete review process of the papers. Each paper went through three blind reviews. I have coordinated the
editing process with the managing editor. I have also written an Editorial for each of these issues.
Mnif, F. and Derbel, N “Editorial” International Journal of Modeling, Identification and
Control, 2, 1, 1-2, (2007)
Mnif, F. and Derbel, N “Editorial” International Journal of Modeling, Identification and
Control, 5, 4, 257-259, (2008).
Mnif, F. and Derbel, N “Editorial” International Journal of Modeling, Identification and
Control, 15, 2, 87-88, (2012).
[ED1]
[ED2]
[ED3]
5. University and community services
5. a. Committees
At SQU, I have served on many committees at different levels, the University, the College of Engineering and
both the ECE department and Mechatronics engineering program. I have also chaired many of them notably
those of the ECE and the MCE programs.
At the university level, I have served on the following committees:
2014-present College of Engineering focal point focal point for the SQU Executive Committee for
Institutional Accreditation
2013
Ad-Hoc Committee for the development of unified attributes and outcomes for SQU
graduates
2002
Ad-Hoc Committee for the development of SQU Water Resources Research Center
In the College of Engineering, I have served on the following committees
2014-present
2014-present
2014-present
2010-2014
2007-2010
2003-present
2002-2003
Member of the College Board
Co-chair of the College Accreditation Committee
Coordinator of the Mechatronics Engineering program
Member of the College accreditation committee
Member of the College Curriculum and Timetabling committee
Member of the Mechatronics Steering Committee
Member Web and publication Committee
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Curriculum Vitae
Faïçal Mnif
Member of the ad-Hoc Committee for the development of the Mechatronics Program 2002Member of the Web and publication Committee
2002
2003
In the ECE Department, I have served on the following committees
2014-2015
2014-present
2014-present
2011-2014
2005-2010
2002-2004
2002-2004
Member Department of ECE strategic Planning Committee
Member of the Curriculum review and Program development Committee
Member of the Accreditation committee
Chair of the Accreditation, Curriculum and timetabling Committee
Member of the Accreditation Curriculum and timetabling Committee
Member of the Publication and Web Committee
Member of the Research and Graduate Studies Committee
For the MCE Engineering Program, I have served on the following committees
2014-present
2014-present
2014-present
2003-present
2013-present
2011-present
2010-2011
2006-2009
2006-2009
Chair of the Strategic Planning Committee
Chair of the timetabling committee
Member of the Staff-Student liaison Committee
Chair of the Curriculum Committee
Member of the Industrial Advisory Board
Member of the MCE accreditation committee
Chair of the Accreditation committee
Chair of the Final Year Projects Committee
Co-Chair of the Accreditation Committee of the Mechatronics program
5. b. Services to the University
I have contributed with the following seminars on accreditation and outcome based assessment:
25 April 2014, the College of Agriculture and Food Sciences
29 May 2014, the College of Economics and Political Sciences
20 December 2014, the College Law
5. c. Services to the Community:
I served twice as a reviewer of new academic programs submitted for approval to the Omani Ministry of
Higher Education, Namely:
2014
National College of Engineering and Technology
Task: Evaluate the program of B. Eng. In Electronics and Instrumentation
2011
Caledonian College of Engineering.
Task: Evaluate the program of B. Eng. In Electronic and Instrumentation
2014
I have edited two full-page papers in Al-Watan (October 12, 2014) and in Oman Observer
(November 19, 2014) on the accreditation of SQU Engineering Programs by ABET.
2009,
I have served as an external reviewer (voluntary) to evaluate programs of B. Eng. In
Mechatronics and in Industrial Informatics at the National Engineering School of Sousse
(Tunisia).
2002, 2010
I offered a short course on Industrial Automation (Dec 16-22, 2002, and June 12-16, 2010).
5. d. Organization of International Conferences
I have been actively involved in the organization of international conferences organized in Oman and
internationally.
2015
Co-chair of the scientific committee in Instrumentation for the 8th IEEE-GCC conference and
exhibition held in Muscat, February 1-4, 2015.
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Curriculum Vitae
2013
2011
2009
2007
2007
2005
2004
2001
Faïçal Mnif
Program Chair, Conference on Systems, Analysis & Automatic Control (SAC) ’10rd IEEE
International Conference on Signals, Systems and Devices, Sousse, Tunisia, March, 2011
Program Chair, Conference on Systems, Analysis & Automatic Control (SAC) ’8th IEEE
International Conference on Signals, Systems and Devices, Sousse, March, 2011
Program Chair, Conference on Systems, Analysis & Automatic Control (SAC) ’6rd IEEE
International Conference on Signals, Systems and Devices, Hammamet, March, 2009
Program Chair, Conference on Systems, Analysis & Automatic Control (SAC) ’5th IEEE
International Conference on Signals, Systems and Devices, Djerba, March, 2007
Program Chair of Industrial Electronics and Control Technical Committee, ‘’Third
International Conference on Computers, Communications and Power’’, ICCCP’07, SQU,
Oman, 2007.
Co-chair of the publication committee of the ‘’3rd IEEE International Conference on
Signals, Systems and Devices, SSD'2005’’ Sousse (Tunisia), March 2005.
Member of the organization committee of the ‘’Second International Conference on
Computers, Communications and Power’’, ICCCP’05’’ SQU, Oman, 2005.
Member of the scientific committee of the’ 6th International Conference on Applied
Mathematics’’ Corfu Island, Greece, 17-19 August 2004.
Member of the scientific committee of the “8th International Conference on Systems and
Circuits” Vouliagmeni, Greece, 7-10 July 2004
Member of the scientific committee of the “3rd International Conference on Signal Processing,
Robotics and Automation, ISPRA 2004 ” Salzburg, Austria, 13-15 Feb. 2004.
Member of the scientific committee of the “International Conference of Electrical Engineering
Education”, Oslo, 13-16 August 2001.
5. d. Referee for International Journals
I served as a referee for several journals in the area of robotics and control. Depending on my availability, I
review between three and six papers per year for:
‘’Systems and Control Letters’’, Elsevier
“International Journal of Control”, Francis and Taylor
“IET Control Theory and Applications”, IET
‘’Oceans Engineering’’, Elsevier
‘’Journal of the Franklin Institute”, Elsevier
‘’IEEE Transactions on Control Systems Technology’’, IEEE
‘’IEEE Transactions on Robotics and Automation”, IEEE
‘’Mechatronics, an International Journal ”, Elsevier
‘’Journal of Systems and Control Engineering’’ The Institute of Mechanical Eng.
‘’Cybernetics and Systems, An International Journal’’ Francis & Taylor
‘’International Journal of Systems and System Sciences’’, Francis & Taylor
“The Journal of Engineering Research” Sultan Qaboos University.
“International Journal of Modeling, Identification and Control” Inderscience.
“Mathematical Problems in Engineering”, Hindawi.
5. e. Professional Societies
I am an active member of IEEE, and IEEE region 8. IEEE is the world’s largest association for the
advancement and technology with more than 400,000 members. I have been a student member from 19911997, a member from 2003-2005 and a senior member since 2006. Senior member is the highest grade for
which IEEE members can apply. Only 8% of IEEE have achieved this rank.
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Curriculum Vitae
Faïçal Mnif
I am also a member of the TSTS (Tunisian Science and Technology Society). TSTS was established in
September 1999 as an independent, not-for-profit, non-government, non-political, scientific organization of
Tunisians involved in science and technology.
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