Niloufar Minouchehr

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About

Niloufar Minouchehr is a control systems engineer whose research centers on the stabilization and robust control of underactuated, nonlinear robotic platforms—most notably the two-wheeled inverted pendulum (TWIP) robot. Her work addresses the fundamental challenge of maintaining balance in inherently unstable systems while accounting for real-world physical constraints and model uncertainties. Minouchehr’s major contributions include the design of a Model Predictive Control (MPC) strategy for TWIP robots, as detailed in her most-cited paper (2015, 14 citations), which optimizes system performance by leveraging an explicit process model. She further advanced the field by developing a Linear Matrix Inequality (LMI)-based robust constrained MPC approach (2015, 4 citations), explicitly handling both physical constraints and parametric uncertainties to ensure stable posture control. These contributions are critical for applications in mobile robotics, where reliable balance under uncertainty is paramount. Minouchehr’s work bridges theoretical control methods with practical implementation, offering a framework for engineers designing agile, self-balancing robots. Her research continues to influence the development of robust, constraint-aware controllers for complex dynamical systems.