Melbourne School of Engineering
Electrical and Electronic Engineering

Journal papers


  1. Liu GY, Mareels I, Nesic D, Decentralised control design of interconnected chains of integrators: a case study, Automatica, Vol 44 No 8 Aug 2008, pp 2171-2178
  2. Liu GY, Mareels I, Nesic D Non-local stabilization of a spherical inverted pendulum, International Journal of Control, Vol 81, No 7, pp1035-1053, 2008
  3. Duff EP, Johnston LA, Xiong JH, Fox PT, Mareels I, Egan GF, The power of spectral density analysis for mapping endogenous BOLD signal fluctuations, Human Brain Mapping, Vol 29, No 7, Jul 2008, pp 778-790
  4. Tan Y, Nesic D, Mareels I, On the choice of dither in extremum seeking systems: a case study, Automatica, Vol 44, No 5, pp 1446-1450, May 2008
  5. Johnston LA, Duff E, Mareels I, Egan GF, Nonlinear estimation of the BOLD signal, Neuroimage, Vol 40, No2, pp504-514, 2008 doi:10:1016/j.neuroimage.2007.11.024
  6. Mo Y, Skafidas E, Evans R, Mareels, I 50 GHz static frequency divider in 130 nm CMOS  ELECTRONICS LETTERS   Volume: 44   Issue: 4   Pages: 285-287   Published: FEB 14 2008, doi:10.1049/el:20083638
  7. G. Liu, D. Nešić  and I. Mareels,  Nonlinear Stable Inversion-Based Output Tracking Control for a Spherical Inverted Pendulum,  Int Journal of Control,  Volume: 81   Issue: 1   Pages: 116-133   Published: 2008, DOI: 10.1080/00207170701383798


  1. M. Cantoni, E. Weyer, Y. Li, S.K. Ooi, I. Mareels and M. Ryan, Control of large-scale irrigation networks Proceedings of the IEEE, Special Issue on the Technology of Networked Control Systems (eds. J. Bailliuel and P. Antsaklis), Volume 95,  Issue 1,  Jan. 2007 Page(s):75 - 91 DOI 10.1109/JPROC.2006.887289


  1. Emmanuel Koumoundouros, Robert J. Bischof, Els N. Meeusen, Iven MY Mareels, Kenneth J. Snibson,  Chronic Airway Disease: Deteriorating Pulmonary Function In Sheep Associated With Repeated Challenges Of House Dust Mite, ISSN: 0190-2148 print/1521-0499 online DOI: 10.1080/01902140600916960 Experimental Lung Research, Volume 32, Number 7, August 2006, pp. 321-330(10)
  2. John Homer, Iven Mareels, Charles Hoang, Enhanced Detection-Guided NLMS Estimation of Sparse FIR-Modeled Signal Channels, IEEE Trans Circuits and Systems I: Vol 53, No 8 Aug 2006, pp1783-1791, Digital Object Identifier 10.1109/TCSI.2006.879062
  3. Mingxuan Sun, Shuzhi Sam Ge, Iven Mareels, Adaptive Repetitive Learning Control of Robotic Manipulators without the Requirement for Initial Repositioning, IEEE Trans on Robotics,  Vol 22, No 3, pp 563- 568, June 2006 Digital Object Identifier 10.1109/TRO.2006.870650
  4. Ying Tan, Dragan Nešić, Iven Mareels, On non-local stability properties of extremum seeking control, Automatica, 42 (2006) 889-903, June,
  5. Burdet E, Tee KP, Mareels I, Milner TE, Chew CM, Franklin DW, Osu R, Kawato M,  Stability And Motor Adaptation In Human Arm Movements Biological Cybernetics 94 (1): 20-32 Jan 2006


  1. Manton, JH, Helmke U., I. Mareels, A dual purpose principal and minor component flow, Systems & Control Letters 54 (8):759-769, Aug 2005
  2. Iven Mareels, Erik Weyer, Su Ki Ooi, Michael Cantoni, Yuping Li, Girish Nair; Systems Engineering for Irrigation Systems: Successes and Challenges, Annual Reviews in Control, Vol 29, 191-204, DOI 10.1016/j.arcontrol.2005.08.001 (invited paper)


  1. G Nair, R Evans, I Mareels, B Moran, Topological Feedback Entropy and Nonlinear Controllability, IEEE Trans Aut Control, Special Issue on Networked Control Systems, Vol 49, No 9, September 2004, 1585-1597
  2. I. Mareels, Self-tuning control for polynomial systems using a receding horizon observer and control strategy, International Journal of Adaptive Control and Signal Processing, contribution to the Special Issue Adaptive Control, guest-editors Iven Mareels & Jan Willem Polderman, Vol 8, June 2004
  3. Polderman JW, Mareels I Two scale high gain adaptive control INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 18 (4): 393-402 MAY 2004
  4. S. Dey,  I.M.Y.  Mareels, Reduced complexity estimation for large scale hidden Markov Models, IEEE Transactions on Signal Processing , Vol 52, No 5, May 2004, 1242-1249
  5. Mareels I Discussion on: "A reduced-order controller design for nonlinear systems with uncertainties and disturbances" EUROPEAN JOURNAL OF CONTROL 10 (3): 223-227, 2004
  6. T. Suthasun, I. Mareels, A. Al Mamun, System Identification and  Controller Design for Dual Actuated Servomechanism,  Control Engineering Practice. (on-line doi:10.1016/S0967-0661(03)00150-3), printed version Vol 12/6 pp 665-676 (
  7. Zhong Ping Jiang, Iven Mareels, David J. Hill, Jie Huang, A unifying framework for global regulation via nonlinear output: from ISS to iISS, IEEE Transactions on Automatic Control, Vol 40, April 2004, 549- 562
  8. J.L. Willems, I. Mareels, A rigorous solution of the infinite time interval LQ problem with constant state tracking, Systems & Control Letters, Vol 52, pp289-296, 2004. Also available on-line via


  1. G.S. Yablonski, I.M.Y. Mareels, M. Lazman, The principle of critical simplification in chemical kinetics, Chemical Engineering Science, Special Issue on Mathematics in Chemical Kinetics and Engineering, Vol 58, No 21, pp 4833-4843, Nov 2003.
  2. I.  Mareels, E. Weyer, Su Ki Ooi, Irrigation networks: A systems Engineering approach, Water&Irrigation,  Vol 23, No 4, pp 18-34, 2003
  3. A. Morton, I.M.Y. Mareels, A generalized dynamical model for three-phase switch-mode converter circuits, IEEE Trans Power Electronics, Vol 18, No 4, pp 994-1002,July 2003
  4. O. Chikumbo, I. M.Y. Mareels, Predicting terminal time and final crop number for a forest plantation stand: Pontryagin Maximum Principle, in Ecosystems and Sustainable Development, ed E. Tiezzi, C.A. Brebbia and J.L.Ulso,Vol 2, pp 1227-1237, ISBN 1-85312-804-X, WIT Press 2003.
  5. R. Orsi, L. Praly, and I. Mareels. Necessary conditions for stability and attractivity of continuous systems. International Journal of Control, 76(11):1070-1077, 2003


  1. I.M.Y. Mareels, Recovering state trajectories from output measurements and dynamic models: a computational complexity point of view, International Journal of Bifurcation and Chaos, Vol. 12, No. 5 (2002) 1079-1095.


  1. >Orsi R, Praly L, Mareels I, Sufficient conditions for the existence of an unbounded solution, AUTOMATICA, 37 (10): 1609-1617 OCT 2001
  2. P. Blackmore, D. Williamson, I. Mareels, Open-loop discretization methods for control systems design, Int Journal of Control, Vol 75, No 15, Oct 2001, 1527-1542. DOI: 10.1080/00207170110070996
  3. Z.P. Jiang, Iven Mareels, Robust nonlinear integral control, IEEE Trans Aut Cont, Vol 46, No 8, Aug 2001, 1336-1342.
  4. R. Ortega, A.J. Van Der Schaft, I. Mareels,  B. Maschke, Putting energy back in control, IEEE Control Systems Magazine , Volume: 21 Issue: 2 , April 2001,Page(s): 18 –33
  5. Brockwell A, Evans R, Mareels I. Stability of a trajectory-based control law for an unknown nonlinear non-minimum phase system, Asian Journal of Control, vol.3, no.1, March 2001, pp.45-49
  6. I. Mareels, Discussion on “Modelling and Adaptive control of aerobic continuous stirred tank reactors”, by P. Georgieva, A. Ilchmann, and M.F. Weirig, European Journal of Control, Vol 7 No 5, 2001, pp 492.
  7. Lee WS, Mareels IMY, Anderson BDO ,  Iterative identification and two step control design for partially unknown unstable plants, INT J CONTROL, 74 (1): 43-57 Jan 2001. DOI: 10.1080/00207170150202670


  1. B.M. Chen, I.M.Y. Mareels, Y.F. Zheng, C. Zhang, Solutions to disturbance decoupling problem with constant measurement feedback for linear systems, Automatica Vol.36: (11), 1717-1724, Nov 2000.
  2. A.B. Morton AB, I.M.Y. Mareels, Overload prevention and loss minimization in managed distribution networks, IEEE T Power Deliver, Vol.15: (3) 972-977, Jul 2000.
  3. A.B. Morton, I.M.Y. Mareels, An efficient brute-force solution to the network reconfiguration problem, IEEE T Power Deliver, Vol.15: (3) 996-1000, Jul 2000.
  4. A.B. Morton, I.M.Y. Mareels, The prospects for DC power distribution in buildings, Electrical and Electronics Engineering Australia, IEAust, Vol 20, pp 49-56.


  1. E. Weyer, R. Williamson, I.M.Y. Mareels, Finite sample properties of linear model identification, IEEE Trans Aut Cont, July 1999, Vol.44, No 7, pp 1370-1384.
  2. G. Bastin, F. Jarachi, I.M.Y. Mareels, Output deadbeat control of nonlinear discrete-time systems with one-dimensional zero dynamics: global stability conditions, IEEE Trans Aut Cont, June 99, Vol.44, No 6, pp 1262-1266.
  3. D. Nešić, I.M.Y. Mareels, Stabilisability and stability for explicit and implicit polynomial systems: a symbolic computation approach, European Journal of Control, Vol.5, pp 32-43, 1999; Discussion by S.Diop and response by authors, Vol.5, pp 44-45.
  4. D.Nešić, E. Skafidas, I.M.Y. Mareels, R. Evans. (1999). Analysis of minimum phase properties for input non-affine nonlinear systems, IEEE Transactions on Automatic Control Vol.44(5), ISSN 0018-9286, May 1999,pp 868-872
  5. Z-P. Jiang, I.M.Y. Mareels, D. Hill, Robust control of uncertain nonlinear systems via measurement feedback, IEEE Trans Aut Cont, Vol. 44(4), ISSN 0018-9286, April 1999, pp 807-813.
  6. D. Nešić, I.M.Y. Mareels, Controllability of structured polynomial systems, IEEE Trans Aut Cont, Vol. 44(4), ISSN 0018-9286, April 1999, pp 761-765.
  7. O. Chikumbo, I.M.Y.  Mareels, B.J. Turner, Predicting stand basal area in thinned stands using a dynamical model, Forest Ecology and Management, Vol.116, pp 175-187, 1999.
  8. E. Skafidas, R.J. Evans, I.M.Y. Mareels and A. Nerode, Optimal controller Switching for Stochastic Systems, pp 341-356, Lecture Notes in Computer Science (Vol.1567), Springer Verlag, 1999.


  1. John Homer, Robert Bitmead, Iven Mareels, Quantifying the effects of dimension on the convergence rate of the LMS adaptive FIR estimator, IEEE Transactions on Signal Processing, Vol. 46(10), pp. 2611-2615, Oct 1998.
  2. John Homer, Iven Mareels, Robert Bitmead, Bo Wahlberg, Fredrik Gustafsson, LMS estimation via structural detection, IEEE Transactions on Signal Processing, Vol. 46 (10), pp 2651-2663, Oct 1998.
  3. D. Nešić, I. M. Y. Mareels, Dead-beat control of simple hammerstein models, IEEE Trans Automatic Control, Vol.43, No 8, pp 1184-1189, Aug 1998.
  4. E. Weyer, R.C. Williamson, I.M.Y. Mareels, On the relationship between behavioural and standard methods for system identification, Automatica, Vol 34: (6), pp 801-804, JUN 1998
  5. K. Arent, R. Ortega, J. W. Polderman, I.M.Y. Mareels, On identification of nonlinear regression models: application to the pole-zero cancellation problem in adaptive control, European Journal of Control, Vol.4, pp 235-240, April 1998.
  6. K. Arent, I.M.Y. Mareels, J. W. Polderman, The pole zero cancellation problem in adaptive control: a solution for minimum phase systems by approximate models, European Journal of Control, Vol.4, pp 320-332, April 1998.
  7. E. Skafidas, A. Fradkov, R.J. Evans, I.M.Y. Mareels, Trajectory Approximation Based Adaptive control for nonlinear systems under matching conditions, Automatica, Vol.34, No 3, pp287-299, Mar 1998.
  8. D. Nešić, I. M. Y. Mareels, Dead Beat Controllability of Polynomial Systems: Symbolic Computation Approaches, IEEE Trans Automatic Control, Vol.43, No 2, pp 162-175, Feb 1998.
  9. D.Nešić, I.M.Y. Mareels, G. Bastin, R. Mahony, Output Dead Beat Control for a Class of Planar Polynomial Systems, SIAM Journal on Control and Optimization, Vol.36, pp253-272, Jan 1998.


  1. Vaughan Clarkson, J. Perkins, I.M.Y. Mareels, Corrections to “Number theoretic solutions to intercept time problems (vol 42, pg 959, 1996)”, IEEE Trans Information Theory, Vol 43: (6), pp 2064-2065, Nov 1997.
  2. H. Nijmeijer, I.M.Y. Mareels, An observer looks at synchronisation, IEEE CAS I Fundamental Theory and Applications, Special issue on control of chaos, Vol. 44, No 10, pp. 882-890, October 1997.
  3. R. Mahony, I.M.Y. Mareels, G. Bastin, G. Campion, Output stabilization of square nonlinear systems, Automatica, Vol.33, No 8, pp 1571-1577, Aug 1997.
  4. M.Goris, D. Gray, I.M.Y. Mareels, Reducing the computational load of a Kalman Filter, IEE Electronics Letters, Vol.33, No 18, pp 1539-1541, Aug 1997.
  5. K. Blackmore, R. Williamson, I.M.Y. Mareels, Decision region approximation by polynomials or neural networks, IEEE Trans Inf Theory, Vol.43, No 3, pp903-908, May 1997.
  6. Z.P. Jiang, I.M.Y. Mareels, A small gain control method for nonlinear cascaded systems with dynamic uncertainties, IEEE Trans Aut Cont, Vol.42 No 3, pp292-308, Mar 1997.
  7. Mareels, Complex dynamics of adaptive systems, in Chaos and Control, edited by K Judd, K. Teo, A. Mees, Birkhäuser, pp226-250, Mar 1997.


  1. P. De Wit, R. Ortega, I.M.Y. Mareels, Indirect field oriented control of induction motors is robustly globally stable, Automatica, Vol.32, No 10, pp1393-1402, Oct 1996.
  2. Z.P. Jiang, I.M.Y. Mareels, Y. Wang, A Lyapunov formulation of a nonlinear small gain theorem for interconnected ISS systems, Automatica, Vol. 32(8), pp 1211-1215, Aug 1996.
  3. R. Mahony, I.M.Y. Mareels, G. Bastin, G. Campion, Static-state feedback laws for output regulation of non-linear systems, Control Eng Practice, Vol.4, No 7, pp 1009-1014, July 1996.
  4. Z. P. Jiang, I.M.Y. Mareels and J.B. Pomet, Output feedback global stabilization for a class of nonlinear systems with unmodeled dynamics, European Journal of Control, Vol. 3 (6), Jun 1996.
  5. I.V.L. Clarkson, J. Perkins, I.M.Y. Mareels, Number theoretic solutions to intercept time problems, IEEE Trans. Inf. Theory, Vol.42, No 3, pp 959-971, May 1996.
  6. O. Chikumbo, R. James, I.M.Y. Mareels, B. Turner, Mortality Simulations in Pinus Radiata Plantations in the Tarawera Valley Regimes Trial, Int. Journal on Ecological Modelling and systems ecology, Vol.86, May 1996, pp253-258, see also, International Congress on Modelling and Simulation 1993, Modelling change in environmental and socio-economic systems, Perth, 6-10 Dec 1993, pp 869-874.
  7. K.L. Blackmore, R.C. Williamson, I.M.Y. Mareels, Local minima and attractors at infinity for gradient descent learning algorithms, Journal of Mathematical Systems, Estimation and Control, Vol.6(2), pp 231-234, ftp account 85167JMSEC, Feb 1996.
  8. K. Halliwell, R.C. Williamson, I.M.Y. Mareels, Learning Nonlinearly Parametrised Decision Regions, Journal of Mathematical Systems Estimation and Control, Vol6(1), pp129-132, ftp version available from JMSEC Jan 1996.


  1. Wee Sit Lee, B.D.O. Anderson, I.M.Y. Mareels, R.L. Kosut, On some key issues in the windsurfer approach to adaptive robust control, Automatica, Vol31(11), pp 1619-1636, Nov 1995.
  2. O. Chikumbo, I.M.Y. Mareels, Dynamical models for ecological/environmental modelling and planning, Quantitative methods and Applications in the Environmental Sciences, Edited by T. Jakeman and A. El-Shaarawi, John Wiley & Sons Inc., Nov 95.
  3. O. Chikumbo, I.M.Y. Mareels, Optimal thinning strategies based on dynamical models and the maximum principle, Application of New Technologies in Forestry, Ed. L. Bren and C. Greenwood, pp 239-246, 1995.
  4. J. Homer, I.M.Y. Mareels, R.R. Bitmead, Analysis and Control of the Signal Dependent Performance of Adaptive Echo Cancellers in 4-Wire Loop Telephony, IEEE Trans. on Circuits and Systems II, Vol. 42(6), pp 377-392, Jun 1995.
  5. V. Krishnamurthy, I.M.Y. Mareels, Estimation of noisy 1 bit quantized AR time series with randomly varying observation coefficient, IEEE Trans. on Signal Processing, Vol43(5), pp 1285-1291, May 1995.
  6. R. Mahoney, I.M.Y. Mareels, Global Solutions for Differential/Algebraic Systems and Implications for Lyapunov Direct Stability Methods, Journal of Mathematical Systems, Estimation and Control, Vol5(4), pp487-490, Apr 1995.
  7. J. Homer, I.M.Y. Mareels, Echo canceller performance analysis in 4-wire loop systems with correlated AR subscriber signals, IEEE Trans. on Information Theory, Vol41 (1), pp 322-329, Jan 1995.


  1. E. Weyer, I.M.Y. Mareels, J.W. Polderman, Limitations of robust adaptive pole placement control, IEEE Trans. on Automatic Control, Vol.39(8), pp 1665-1671, Aug 1994.


  1. Wee Sit Lee, B.D.O. Anderson, R.L. Kosut, I.M.Y. Mareels, A New Approach to Adaptive Robust Control, International Journal of Adaptive Control and Signal Processing, Vol.7 (3), pp 183-211, May-June 1993. 
  2.  D.J. Hill, I. Hiskens, I.M.Y. Mareels, Stability theory of differential / algebraic models of power systems, Sadhana Proceedings of the Engineering Sciences of the Indian Academy of Science, Vol.18, Part 5, special issue on Nonlinear Dynamical Systems: Applications to Power Networks, pp. 731-749, 1993.


  1. P.R. Barros, I.M.Y. Mareels, Nonlinear Averaging Analysis of the Incremental Pole Placement Adaptive Controller, Automatica, Vol.22(4), pp 769-782, 1992. 
  2. C. Schwartz, I.M.Y. Mareels, Comments on Adaptive control of linearisable systems, IEEE Transactions on Automatic Control, Vol.37(5), pp 698-701, May 1992. 
  3. I.M.Y. Mareels, R.K. Boel, A performance oriented analysis of a double hybrid adaptive echo cancelling system, Journal of Mathematical Systems, Estimation and Control, Vol.2(No 1), pp 71-94, 1992. 
  4. I.M.Y. Mareels,  H.B. Penfold, R.J. Evans, Controlling Nonlinear Timevarying Systems Using Euler Approximations, Automatica, Vol. 28(4), pp 681-696, July 1992. 
  5. H.B. Penfold, I.M.Y. Mareels, R.J. Evans, Adaptively Controlling Nonlinear Systems Using Trajectory Approximations, International Journal of Adaptive Control and Signal Processing, Special Issue on Nonlinear Adaptive Control, Vol. 6 (4), pp 395-411 July 1992. 
  6. I.M.Y. Mareels, D.J. Hill, Monotone Stability for Nonlinear Systems, Journal of Mathematical Systems Estimation and Control, Vol. 2(3), pp 275-291, 1992. 
  7. J.E. Perkins, I.M.Y. Mareels, J.B. Moore, R. Horowitz, Functional Learning in Signal Processing Via Least Squares, International Journal of Adaptive Control and Signal Processing, Vol. 6: (5), pp. 481-498, Sep 1992. 


  1. B. Wahlberg, I.M.Y. Mareels, I. Webster, Experimental and Theoretical Comparison of some Algorithms for Beam-forming in Single Receiver Arrays.  IEEE Trans. on Antennas and Propagation, Vol.39(1), pp 21-28, 1991; Comments on this paper authored by Y. Zhao, D. Ju and also by B. Whalberg, I.M.Y. Mareels, I. Webster appeared in  IEEE Trans. on Antennas and Propagation, Vol.43(11), pp 1348-1349, 1995. 
  2. W.A. Sethares, I.M.Y. Mareels, Dynamics of an Adaptive Hybrid, IEEE Trans. on Circuits and Systems, Vol.38(1), pp 1-11, Jan 1991. 


  1. D.J.  Hill, I.M.Y. Mareels, Stability Theory for Differential/Algebraic Systems with Application to Power Systems, IEEE Trans. Circuits and Systems, Vol.37(10), pp 1416-1423, Nov 1990. 


  1. I.M.Y. Mareels, R.R. Bitmead, Nonlinear Dynamics in Adaptive Control: Periodic and Chaotic Stabilisation. Part II Analysis, Automatica, Vol.24(4), pp 485-497, 1988. 
  2. I.M.Y. Mareels, R.R. Bitmead, Bifurcation Effects in Robust Adaptive Control, IEEE Trans. on Circuits and Systems, Vol. 35(7), pp 835-842, July 1988. 
  3. W.A. Sethares, I.M.Y. Mareels, B.D.O. Anderson, C.R. Johnson Jr., R.R. Bitmead, Excitation Conditions for Signed Regressor Least Mean Squares Adaptation, IEEE Trans. on Circuits and Systems, Vol. 35(6), pp 613-695, June 1988. 
  4. I.M.Y. Mareels, M. Gevers, Persistency of Excitation Criteria for Linear Multivariable Time Varying Systems, Mathematics in Control, Signals and Systems, Vol.1, pp 203-226, 1988. 


  1. I.M.Y. Mareels, R.R. Bitmead, M. Gevers, C.R. Johnson Jr., R.L. Kosut, M.A. Poubelle, How Exciting Can A Signal Really Be? Systems &Control Letters, Vol.8, pp 197-204, 1987. 
  2. R.L. Kosut, B.D.O. Anderson, I.M.Y. Mareels, Stability Theory for Adaptive Systems: Methods of Averaging and Persistency of Excitation, IEEE Trans. on Automatic Control, Vol.32(1), pp 26-34, Jan 1987. 


  1. M. Bodson, S.S. Sastry, B.D.O. Anderson, I.M.Y. Mareels, R.R. Bitmead,  Nonlinear Averaging Theorems, and the Determination of Parameter Convergence Rates in Adaptive Control, Systems & Control Letters, Vol.7(6) , pp 145-157, Jun 1986. 
  2. I.M.Y. Mareels, R.R. Bitmead, Nonlinear Dynamics in Adaptive Control: Chaotic and Periodic Stabilisation, Automatica, Vol22(6), pp 641-655, Jun 1986. 


  1. I.M.Y. Mareels, Sufficiency of Excitation, Systems & Control Letters, Vol5(6), pp 159-163, Dec 1984.
  2. I.M.Y. Mareels, Parameter Estimation by the Least Squares Method, Journal A, Benelux Quarterly Journal on Automatic Control, Vol25(2), pp 99-104, Feb 1984. 
  3. I.M.Y. Mareels, A Simple Selftuning Controller for Stably Invertible Systems, Systems & Control Letters, Vol4(2), pp 5-16, Feb 1984.