Muhammad Mustapha
Papers
9
Total Citations
106
H-Index
5
About
Muhammad Mustapha is a control systems researcher whose work has made significant contributions to the modeling, analysis, and control of two-wheeled inverted pendulum (TWIP) mobile robots — a notoriously challenging class of underactuated, inherently unstable mechanical systems. His research spans dynamic modeling, intelligent control, and model-based control strategies, with a particular emphasis on bridging theoretical frameworks and practical implementation. Mustapha's most influential work, a 2014 experimental comparison of controllers for balancing TWIP robots (29 citations), demonstrated rigorous benchmarking between model-based and non-model-based approaches. His foundational 2011 paper on dynamic modeling and analysis (26 citations) established key analytical groundwork using Lagrangian and Newton-Euler formulations. He further advanced the field through Takagi-Sugeno fuzzy modeling (20 citations), enabling more tractable representations of the robot's nonlinear dynamics, and later extended this into sophisticated fuzzy tracking controllers employing Lyapunov stability methods. Beyond fuzzy control, Mustapha explored model predictive control, composite nonlinear feedback, and multiple operating point linearization strategies. With over 100 cumulative citations across his publications, his body of work offers students and researchers a comprehensive, practically grounded resource for tackling the persistent challenges of mobile robot stabilization and motion control.
Research Focus
Key Achievements
Top Papers
- 1
- 2Dynamic Modeling and Analysis of a Two-Wheeled Inverted Pendulum Robot26 citations · 2011
- 3Takagi-Sugeno fuzzy modeling of a two-wheeled inverted pendulum robot20 citations · 2013
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- 7Position Tracking Controllers for Two Wheeled Inverted Pendulum Robot3 citations · 2014
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