dr. H. Koroglu (Hakan)

Assistant Professor

About Me

Hakan Köroğlu was born in Trabzon, Turkey, on May 27, 1971. He received the B.Sc., M.Sc., and Ph.D. degrees, all from the Electrical and Electronics Engineering Department of Bilkent University, Ankara, Turkey, in 1993, 1995 and 2001, respectively. During December 2001 – December 2002, he performed his military service as a project officer in the Technical and Project Management Department of the Turkish Land Forces Command. From January 2004 till February 2009, he worked as a postdoctoral research associate at Delft Center for Systems and Control, Delft University of Technology, The Netherlands. During December 2009 - January 2011, he worked as a researcher at the control group of the Electrical Engineering Department of Eindhoven University of Technology, The Netherlands, and part time at the Dutch company ASML, within a project on lithographic process control. He then joined the Electrical Engineering Department of King Fahd University of Petroleum and Minerals, Saudi Arabia in February 2011 as an assistant professor and worked there till September 2012. Afterwards he worked at Chalmers University of Technology, Department of Signals and Systems during April 2013 - April 2017 as a researcher and a teacher. As of June 2019, he is affiliated with University of Twente, Faculty of Engineering Technology as an assistant professor.


Engineering & Materials Science
Robust Control
Set Theory
State Feedback
Uncertain Systems
State Feedback
Uncertain Systems


Dr. Koroglu's main research focus has been within the area of robust control theory, with emphasis on analysis and synthesis techniques based on linear matrix inequality optimization (more formally known as semi-definite programming). He is also interested in various applications ranging from mechatronic systems to aerospace, automotive control, autonomous driving and intelligent transportation systems (like vehicle platoons).


Gupta, A. , Köroğlu, H., & Falcone, P. (2021). Computation of robust control invariant sets with predefined complexity for uncertain systems. International journal of robust and nonlinear control, 31(5), 1674-1688. https://doi.org/10.1002/rnc.5378
Koroglu, H. (2021). Joint Synthesis of Robust Dynamic State Feedback and Dynamic Disturbance Feed-Forward for Uncertain Systems. In 2020 59th IEEE Conference on Decision and Control, CDC 2020 (pp. 3963-3968). [9304227] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2020-December). IEEE. https://doi.org/10.1109/CDC42340.2020.9304227
Koroglu, H., & Falcone, P. (2021). Platoon Control based on Predecessor and Delayed Leader Information via Minimized Headway Times. In 2020 59th IEEE Conference on Decision and Control, CDC 2020 (pp. 2857-2862). [9304061] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2020-December). IEEE. https://doi.org/10.1109/CDC42340.2020.9304061

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MSc Assignments (Available):

  1. PID Tuning based on Linear Matrix Inequality (LMI) Optimization (Koroglu; Aarts) : This assignment considers the tuning of PID controllers for uncertain multivariable systems. The goal is develop novel synthesis methods based on linear matrix inequality (LMI) optimization. The potentials of the proposed method(s) should be illustrated in complicated (mechanical) systems.
  2. Robust Data-Driven Control of a Flexure-Based Positioning Mechanism (Koroglu, Aarts; Brouwer): The goal of this assignment is to develop a data-driven controller synthesis method and explore its potential in a flexure-based precision mechanism. It is particularly intended to develop an offline controller synthesis method based on linear matrix inequality (LMI) optimization.
  3. Parameter-Dependent (LPV) Modeling of a Redundant Manipulator (Koroglu, Aarts; Brouwer): The goal of this assignment is to obtain and validate a position-dependent (linear parameter varying - LPV) model of a parallel kinematic manipulator by ingenious use of analytical (first principles) and experimental methods.
  4. Robust Force Estimation for a Flexure-Based Manipulator (Koroglu, Aarts): The goal of this assignment is to develop a robust estimator for force control and verify its performance in a flexure-based mechanism. The estimator is intended to be based on LMI optimization.

BSc Assignments (Ongoing):

  1. Joint System and Controller Synthesis: The goal of this assignment is to develop/adapt a method for concurrent synthesis of controller with the plant. Especially methods based on LMI optimization will be considered.
  2. Cooperative Adaptive Cruise Control under Communication Delay: The goal of this assignment is develop a CACC scheme based on constant time gap policy. A particular goal would be to minimize the time gap with which the string stability will be maintained.

MSc Assignments (Ongoing):


MSc Assignments (Concluded):

  1. Linear Parameter-Varying Control of a Self-Riding Bicycle - Rick van 't Ende, Jan 2022 (Supervisors: Koroglu; Aarts) : A linear parameter-varying (LPV) controller synthesis is performed for a self-riding bicycle and verified on a down-scaled bicycle robot with experiments.
  2. Active Vibration Isolation based on Adaptive Feedback and Feedforward - Arjan Wiegmink, Dec 2022 (Supervisors: Koroglu, Spanjer, Hakvoort): A controller is developed for active vibration isolation based on adaptive output feedback and tested on an experimental setup available at the Department of Precision Engineering.
  3. External Force Estimation on a Nonlinear Compliant 2DOF Manipulator System - Tom van der Holst (Supervisors: Aarts, Koroglu): A force estimator is developed for a nonlinear compliant mechanism based on Kalman filtering and tested on an experimental setup.

BSc Assignments (Concluded):

  1. Applying Reinforcement Learning agents as distributed controllers in Cooperative Adaptive Cruise Control (Nathan Djojomoenawie, 2021): This work investigated the ability of reinforcement learning (RL) agents to act as drivers when nonlinear vehicle models are used. Moreover, it presented a framework for training RL agents that are able to drive such vehicles while maintaining near string stability and a separation of roughly 0.3 seconds.
  2. Robust controller synthesis for CACC platoons with communication delay characterization (Seif El Frej Ismail, 2021): In this assignment, cooperative adaptive cruise control problem is considered in the face of communication delay. A particular characterization of delay is used to formulate a robust controller synthesis based on mixed H-two/H-inf optimization. Based on this formulation, the minimum headway time under which string stability is maintained can be computed for a given communication delay. Smaller headway times have thus been achieved in reference to the existing literature.
  3. Minimizing headway time for a platoon under predecessor following with PD-type control (Koen Freriks, 2021): In this work, it is investigated how headway time can be minimized in cooperative adaptive cruise control using different feed-forward parameters while maintaining string stability. The feedback is applied with a simple PD-type controller, while several feed-forward strategies have been investigated. A specific feed-forward strategy has been identified as the promising method for reducing the headway time in a way to maintain string stability.
  4. Adaptive Autonomous Emergency Braking under Split-Friction Conditions (Luuk van der Weide, 2020): In this assignment, an algorithm for maintaining a stable vehicle yaw while maximizing braking torque during excessive braking is proposed. In this algorithm road friction estimation from a prior warning braking phase is used, next to online estimates. The algorithm consists of an upper yaw controller, and a lower ABS (slip) controller. The proposed slip controller is a PID based controller with varying gains depending on online estimates of normal force, road friction and velocity. The performance of the proposed controller is verified and proved to be robust for a variety of simulations using an 8DOF vehicle model.

Contact Details

Visiting Address

University of Twente
Faculty of Engineering Technology
Horst Complex (building no. 20), room T609
De Horst 2
7522LW  Enschede
The Netherlands

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Mailing Address

University of Twente
Faculty of Engineering Technology
Horst Complex  T609
P.O. Box 217
7500 AE Enschede
The Netherlands

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