In Han Ha

Papers

Total Citations

186

H-Index

About

In Han Ha is a control systems researcher whose work has made significant contributions to the theory and application of nonlinear feedback control, with a particular emphasis on robust tracking and robotics. His research addresses one of the central challenges in control engineering: ensuring reliable, accurate tracking performance in nonlinear systems despite uncertainties and disturbances. Ha's most influential work, "Robust tracking in nonlinear systems" (1987), has garnered 131 citations and establishes a nonlinear feedback multivariable controller framework in which tracking error — measured as a general function of system state and input command — is guaranteed to remain ultimately bounded, a hallmark of robust control design. This foundational contribution was preceded by his 1983 paper introducing a nonlinear control law for mechanical systems with generalized coordinates, demonstrating asymptotic error convergence under mild conditions, and his 1985 work extending these ideas explicitly to robotic applications. Taken together, these three papers form a coherent and influential body of work that bridges abstract nonlinear control theory with practical robotics implementation. With nearly 190 cumulative citations, Ha's research remains a meaningful reference point for engineers and researchers working on robust controller design for complex, real-world nonlinear systems.