Almir SalihbegovićCurriculum Vitae

Humska 20, 71000 SarajevoBosna i Hercegovina

H (+387) (0)61 453 600T (+387) (0)33 250 700

B almir.salihbegovic@etf.unsa.baÍ people.etf.unsa.ba/∼almir.salihbegovic

B salihbegovic@gmail.com

PERSONAL DATABirthplace Zenica, Bosnia and Herzegovina

Date of birth 04.09.1984.Marital status Married, Two children

HIGHER EDUCATION2015–Present PhD Student, Electrical Engineering, University of Sarajevo, Faculty of Elec-

trical Engineering, Department of Automatic Control and Electronics.Research area: Nonlinear Control Systems

2009–2013 Master of Science (mr. sci.) - 2 years programme, Electrical Engineering,University of Sarajevo, Faculty of Electrical Engineering, Department of Auto-matic Control and Electronics.GPA – 10.00 of 10.00

2002–2008 Diploma Engineer (dipl.el.ing.) - 5 years programme, Electrical Engine-ering, University of Sarajevo, Faculty of Electrical Engineering, Department ofAutomatic Control and Electronics.GPA – 9.62 of 10.00

WORK EXPERIENCEVocational

2014–Present Senior Teaching and Research Assistant, Department of Automatic Controland Electronics, Faculty of Electrical Engineering, University ofSarajevo.Organization of tutorials and laboratory exercises in the following courses: Electronicelements and circuits; Fundamentals of automatic control; Linear control systems;Structures and operational modes of electric power systems; Nonlinear control sys-tems; Digital computers, architecture and software organization 1; Digital computers,architecture and software organization 2.

2009–2014 Teaching and research assistant, Department of Automatic Control andElectronics, Faculty of Electrical Engineering, University ofSarajevo.Organization of tutorials and laboratory exercises in the following courses: Mathema-tics for engineers 1; Mathematics for engineers 2; Electronic elements and circuits;Practicum course in electrical engineering and electronics; Fundamentals of automaticcontrol; Linear control systems; Structures and operational modes of electric powersystems; Nonlinear control systems; Digital computers, architecture and softwareorganization 1; Digital computers, architecture and software organization 2.Miscellaneous

2015–Present Research assistent at MORUS project, Unmanned system for maritimesecurity and environmental monitoring, supported by NATO Emerging SecurityChallenges Division, Science for Peace and Security Programme.The main goal of MORUS project is a design and development of a fully operationalcomplex robotic system prototype comprised of an Unmanned Aerial Vehicle (UAV) andUnmanned Underwater Vehicle (UUV) capable of autonomous and cooperative missionexecutions related to environmental, border and port security. The main objective ofthe research is design and development of an autonomous aerial and marine roboticsystem, capable of collective engagement in missions taking place in dynamic andnondeterministic environments. The design will focus mainly on payload enhancementand UAV autonomy which is mandatory for UUV transport. Besides that, a dockingsystem and cooperative control algorithms will be developed enabling autonomousdeployment, re-deployment and data exchange at the open sea. Operating environmentof the proposed prototype is an unknown, uncertain and remote, i.e. far from a humanoperator. Therefore, a whole set of novel cooperative control algorithms, combinedwith augmented human machine interface, will be designed and implemented in orderto ensure safety and recoverability of the described system.

2005–2009 Student Teaching Fellow, Department of Automatic Control and Electronics,Faculty of Electrical Engineering, University of Sarajevo.Assisted in organization of tutorials and laboratory exercises in the following courses:Mathematics for engineers 1; Mathematics for engineers 2; Electronic elements andcircuits; Practicum course in electrical engineering and electronics; Signals and systemsanalysis; Fundamentals of automatic control; Linear control systems; Structuresand operational modes of electric power systems; Nonlinear control systems; Digitalcomputers, architecture and software organization 1; Digital computers, architectureand software organization 2.

GRANTS, HONORS AND AWARDS2013 Best Masters Graduate in Class, GPA 10.002009 Full Masters Scholarship, Faculty of Electrical Engineering Sarajevo2009 Golden Ring Award, Faculty of Electrical Engineering Sarajevo2009 Best Graduate in Class, GPA 9.622007 Scholarship for talented students, the Ministry of Education and Science of

Sarajevo Canton

2006 DAAD scolarship, “Vibration isolation of a driver seat for off-road vehiclesby means of an active pneumatic system in combination with a semiactivedamper using fuzzy controller” - Cooperation in line with Friedrich-AlexanderUniversität, Erlangen-Nürnberg, Germany

2005 Scholarship for talented students, the Government of Sarajevo Canton2002 Valedictorian, High school “Musa Ćazim Ćatić”, Tešanj

1998–2002 Multiple local Junior Competitions winner in Mathematics and Physics

CERTIFICATES2015 Participation to the International Graduate School on Control - Module M08

“Introduction to nonlinear system analysis and nonlinear feedback control” -Program of European Embedded Control Institute (EECI)

2013 Participation in the course on “Flatness based control of nonlinear systems” -Cooperation in line with Saarland University, Germany - Program of DAAD

2013 Exemption from taking the State professional exam, issued by the Federalministry of Physical Planning, Bosnia and Herzegovina

MEMBERSHIP AND ACTIVITIES2015–Present IEEE Control System Society, student member2012–Present Institute of Electrical and Electronics Engineers (IEEE) - student member

COMPUTER SKILLSBasic Mathcad, Java, Borland Builder, Visual Studio, QT, Microchip/ATMEL Assem-

bler, Eagle PCBIntermediate C, C++, NI LABView, Easy Soft Pro, LATEX, Open Office, MS Office, Ubuntu

Linux, Microsoft Windows, Eagle PCB, Easy Soft ProAdvanced MATLAB

COMMUNICATION SKILLS2010-Present Several oral presentations at international scientific conferences2005-danas Experience in teaching, tutoring, writing instruction materials

LANGUAGESBosnian MothertongueEnglish Advanced Conversationally fluentDeutsch Basic Reading and good understanding

SCIENTIFIC INTERESTS{ Adaptive control { Mechatronic structures{ Nonlinear control systems { Artificial intelligence{ Robust control { Signal processing

{ Sliding mode control { Industrial automation

MASTER THESISTitle Motion control of nonlinear systems using robust controllers

Supervisor Professor Mujo HebibovićAbstract The research included in the thesis is based on the robust control theory, that

can be used for motion control of nonlinear systems, faced with high precisionand high speed operations in the presence of external disturbances (interactionforces) and parametric uncertainties (inertia and friction variations). Moderncontrol algorithms discussed in this thesis, imposes a cascade structure with twocontrol loops. The inner control loop is applied as a compensator to achievedisturbance robustness, while the outer control loop is applied as a controllerto achieve desired performance. The equations of motion are derived for thesystems with finite time and exponential convergence and for the processeswith sliding modes. Furthermore, different realizations of disturbance observers(DOBs) are presented. It is shown that the disturbance observer and slidingmode control (SMC) structures can be analyzed using a generalized disturbanceattenuation framework, called robust internal-loop compensator (RIC). Thesynthesis of simple DOB, DOB based SMC and RIC based SMC controllers,analysis of their performance and the disturbance attenuation are described.Finally, the designed controllers are used for attitude tracking of the laboratoryhelicopter model CE150, supplied by Humosoft. The results of experiments,both in the simulation mode and at the real helicopter model are given at theend of the thesis.

DIPLOMA THESISTitle Active suspension of the heavy vehicles using fuzzy controllers

Mentor Professor Zikrija AvdagićAbstract The main goal of the thesis is to consider the results that can be achieved

in the process of isolating vibrations with active air spring, using fuzzy logic.The object at which fuzzy controller is implemented is the car seat. Activeconcept of isolation gives us the opportunity to generate a forces in bothdirections, and it is the difference comparing it to the passive and semi-activesuspension concepts. Beside the air spring, in the under-seat construction areplaced two more elements: the hydraulic cylinder and the damper. Designedfuzzy controller uses three input variables: the acceleration of the cabin floor,deflection of the position and the velocity of that deflection. The outputvariables are positions of valves of the air spring and the damper. Measure ofthe quality of isolations is the SEAT value, which is calculated (according tothe ISO standards) as a ratio of effective seat acceleration and effective cabinfloor acceleration. In order to prevent the physical damage of the under-seatconstruction, the main constraint of the control design is imposed on themaximum value of the seat deflection. The control concept is first implementedon the model in MATLAB/Simulink, and after on the real object.

PUBLICATIONS[1] Salihbegovic, A. Multivariable sliding mode approach with enhanced robustness

properties based on the robust internal-loop compensator for a class of nonlinearmechanical systems. In 2016 European Control Conference (ECC), pages 382–387, June 2016.

[2] Salihbegovic, A., Hebibovic, M., and Sokic, E. Synthesis of the integralsliding mode control and the robust internal-loop compensator for a class ofnonlinear systems with matched uncertainties. In Information, Communicationand Automation Technologies (ICAT), 2015 XXV International Conference on,pages 1–8, Oct 2015.

[3] Salihbegovic, A. and Hebibovic, M. Attitude tracking of the small-scalehelicopter system using disturbance observer based sliding mode control. InControl and Automation (MED), 2014 22nd Mediterranean Conference of,pages 1578–1583, June 2014.

[4] Borovina, N., Boskovic, D., Dizdarevic, J., Bulja, K., and Salihbegovic, A.Heuristic based evaluation of mobile services web portal usability. In Tele-communications Forum Telfor (TELFOR), 2014 22nd, pages 1150–1153, Nov2014.

[5] Salihbegovic, A., Sokic, E., Osmic, N., and Hebibovic, M. High performancedisturbance observer based control of the nonlinear 2dof helicopter system.In Information, Communication and Automation Technologies (ICAT), 2013XXIV International Symposium on, pages 1–7, Oct 2013.

[6] Salihbegovic, A., Salihbegovic, A., Hadziselimovic, M., and Avdagic, Z. Redu-cing off-road vehicle seat vibrations using pneumatic active suspension and fuzzylogic based controller. In Information Communication Technology ElectronicsMicroelectronics (MIPRO), 2013 36th International Convention on, pages 886–890, 2013.

[7] Salihbegovic, A., Sokic, E., Salihbegovic, A., and Hebibovic, M. Reducingoff-road vehicle seat vibrations using hydraulic piston and fuzzy logic controller.In ELMAR, 2012 Proceedings, pages 133–136, 2012.

[8] Sokic, E., Salihbegovic, A., and Ahic-Djokic, M. Analysis of off-line han-dwritten text samples of different gender using shape descriptors. In Tele-communications (BIHTEL), 2012 IX International Symposium on, pages 1–6,2012.

[9] Sokic, E., Konjicija, S., Ahic-Djokic, M., and Salihbegovic, A. Stability issuesin discretization of wave equation. In Systems, Signals and Image Processing(IWSSIP), 2011 18th International Conference on, pages 1–4, 2011.

[10] Sokic, E., Ahic-Djokic, M., and Salihbegovic, A. Understanding signal the-ory through play. In MIPRO, 2011 Proceedings of the 34th InternationalConvention, pages 1117–1122, 2011.

PEER-REVIEWED CONFERENCES AND JOURNALS2017 Automatika: Journal for Control, Measurement, Electronics, Computing and

Communications2017 International Conference on Information, Communication and Automation

Technologies2016 European Control Conference - EUCA2015 Journal of The Franklin Institute, Engineering and Applied Mathematics -

Elsevier2015 International Conference on Information, Communication and Automation

Technologies

Sarajevo, 24.8.2017.