Jorge Rivera

Papers

Total Citations

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About

Jorge Rivera’s research centers on the discrete-time modeling and advanced control of nonlinear and under-actuated robotic systems, with a particular emphasis on sliding mode control strategies. In his most cited work, Rivera developed a discrete-time model for the Pendubot—a classic under-actuated robotic benchmark—using the symplectic Euler method, and designed a discrete-time sliding mode controller and observer. His simulation studies demonstrated robust performance, contributing a practical framework for controlling complex mechanical systems with fewer actuators than degrees of freedom. Rivera also tackled the challenging problem of output regulation for nonminimum phase nonlinear systems, proposing a sliding manifold based on feedback linearization and block control techniques. Though his citation counts are modest—with his top paper cited 8 times—his work addresses fundamental difficulties in discrete-time control theory, particularly for systems where traditional methods fail. Rivera’s contributions are valuable for researchers and students working at the intersection of nonlinear control, robotics, and discrete-time systems, offering rigorous approaches to stability and tracking in under-actuated and nonminimum phase environments.