Patricio Ordaz

About

Patricio Ordaz is a control systems engineer whose research bridges nonlinear control theory, robotics, and state estimation, with a particular focus on underactuated mechanical systems and robust observer design. His work consistently draws on elegant theoretical frameworks — including Euler-Lagrange dynamics, passivity analysis, sliding mode control, and the Attractive Ellipsoid Method — to solve challenging real-world control problems in robotic manipulators and pendular systems. Among his most influential contributions is a 2019 study developing a full-order observer for nonlinear systems with unmatched uncertainties, combining sliding mode and attractive ellipsoid concepts to achieve reliable state estimation under disturbance — a paper that has garnered 17 citations. His earlier foundational work on sub-optimal control strategies for underactuated two-link robots (2011, 14 citations) established a generalizable methodology for swing-up and stabilization tasks that influenced subsequent research in the field. Ordaz has also made meaningful advances in robust saturated output feedback control for flexible robotic arms, haptic guidance systems, and PD+ compensator stability analysis with velocity estimation. Across his body of work, he demonstrates a talent for bridging rigorous Lyapunov-based stability theory with practical implementation, making his research valuable to both theorists and engineers working on complex mechatronic systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Full-Order Observer for a Class of Nonlinear Systems With Unmatched Uncertainties: Joint Attractive Ellipsoid and Sliding Mode Concepts

   17 citations · 2019
2. 2
   Toward a generalized sub‐optimal control method of underactuated systems

   14 citations · 2011
3. 3
   Robust bounded control for the flexible arm robot

   9 citations · 2013
4. 4
   Research on Swing up Control Based on Energy for the Pendubot System

   6 citations · 2014
5. 5
   Trajectory Tracking Control for Robotics Manipulators Based on Passivity

   5 citations · 2008
6. 6
   Global stability of PD+ controller with velocity estimation

   4 citations · 2014
7. 7
   Nonlinear Robust Output Stabilization for Mechanical Systems Based on Luenberger-Like Controller/Observer

   4 citations · 2017
8. 8
   Haptic Guidance Based on Sub-optimal Passivity Control

   3 citations · 2009
9. 9
   Control Based on Swing Up and Balancing Scheme for an Underactuated System, with Gravity and Friction Compensator

   2 citations · 2007
10. 10
    Swing‐Stabilization Up for a Rotatory‐Elastic Pendulum Via Nonlinear Sub‐Optimal Control

    2 citations · 2018

Key Collaborators

Contact & Links