DR.

ABHAYA PAL SINGH

E1202, Kunal Iconia, Mamurdi  Pune, Maharashtra 412101
+91 9028526907  +91 9158763585  abhaya.aps@gmail.com

PROFILE
• Highly self-motivated with demonstrated research expertise in modeling and controller design for robotic
systems and 8 years of experience in teaching.
• Experimental techniques: Handling Quanser setups like, robotic manipulators, quarter car model etc. for
research work.
• Rich experience in modeling and computer simulations using Matlab.
• 116 Google Scholar Citations and h-index 7 (100 Scopus Citation and h-index 6)
• Qualified Graduate Aptitude Test in Engineering (GATE) 2010 & 2013

EDUCATION
Doctor of Philosophy November 2019
PhD in Engineering (Control Systems Engineering), Symbiosis International (Deemed University), Pune.
Ph.D. Thesis Title: Fractional Modeling and Controller Design for Robotic Manipulators.
Supervisors: Dr. Himanshu Agrawal, Lecturer, School of Electrical Engineering, Computers and Mathematical
Sciences (EECMS), Curtin University, Perth, Australia and Dr. Dipankar Deb, Professor, IIT-RAM Ahmedabad.
Examiner: Prof. (Dr.) Radhakant Padhi, Professor, Department of Aerospace Engineering, Indian Institute of
Science (IISc), Bangalore.
Master of Technology July 2012
M.Tech. in Control Systems Engineering, VJTI, Mumbai, 9.3/10 (CGPA)
M.Tech Thesis Title: Dynamics and Control of Under-actuated Robotic Systems Using Fractional Order
Calculus
Supervisor: Dr. Faruk A S Kazi, Ph.D. IIT-B, Professor, Electrical Engineering Department, VJTI Mumbai
Examiner: Dr. Vishwesh A. Vyawahare, Ph.D IIT-B, Professor, RAIT, Navi Mumbai
Bachelor of Technology June 2009
B.Tech. in Electronics and Communication Engineering, ITM, Gida, Gorakhpur, 69.88%

ACHIEVEMENTS
• Best Paper Award in Systems track of ICSNCS 2016
• Offered IASc-INSA-NASI Summer Research Fellowship-2013 by Indian National Science Academy for 2
months
• GATE-MHRD India Scholarship for two years from August 2010 to July 2012 to pursue Masters Degree
• Working in close collaboration with UTM, Malaysia, Taylors University, Malaysia, Kashmir University, IIT-
RAM Ahmedabad.

RESEARCH INTERESTS
• Fractional Order Control.
• Optimal Control and Model Predictive Control.
• Mathematical modeling of Mechatronic Systems.
• Fractional modeling and control of Robotic Systems.
ENGINEERING RESEARCH EXPERIENCE
Symbiosis International (Deemed University), Pune July 2014 - Nov. 2019
1. Mathematical Modeling of Dynamical Systems
During the Ph.D. course, I have used the concept of Fractional Calculus to find the mathematical model of
different robotic systems. I proposed an algorithm which can give a more accurate fractional-order model
of a dynamical system. The performance merit of the proposed algorithm is validated on some existing
fractional-order models and found that, by using the proposed algorithm, a more accurate model was ob-
tained. Furthermore, using the algorithm, a fractional-order equivalent model of a 2 DOF Serial Flexible
Link Robotic Manipulator, and a 2 DOF Serial Flexible Joint Robotic Manipulator is proposed.
2. Controller Design for Robotic Systems.
During the Ph.D. course, based on the system model obtained by the above-proposed algorithm, different
control schemes have been designed base upon PID control, model predictive control (MPC), Adaptive
control, and control design by pole placement method for the various robotic system models. The performance
of the acquired system model tested on the Quanser experimental setups of Robotic Manipulators and found
that when a fractional-order controller is designed for the fractional-order model of these robotic systems,
then the performance is improved significantly.

TEACHING EXPERIENCE
Assistant Professor, Electronics and Telecommunication Engineering, Symbiosis Institute of Tech-
nology, Pune August 2012 - till date
• Involved in setting up Robotics Lab in the department.
• Graduated 4 Master’s students.
• Developed the Course Curriculum Pack for Basic and Advance Electronics, Modern Control Systems, Robotics
etc.
• Subjects Taught- Circuit Analysis, Signals and Systems, Control Systems, Basic Electrical and
Electronics, Robotics, Non-linear Systems, Electromagnetic Field Theory.
• Attended various FDPs and Workshops.
• AICTE Institute incharge.
• Departmental Internationalisation incharge.
• Member of Industry connect and Anti Ragging Committee of the institute.
• Organized various technical and cultural events.
• Conducted Internal & External Oral /Practical Exam at the University.
Teaching Assistant, VJTI, Mumbai August 2010 - July 2012
Involved in taking lectures and tutorials of B.Tech and Diploma students.

PUBLICATIONS

Book(s)
1. Abhaya Pal Singh et al., Fractional Modeling and Controller Design of Robotic Manipulators - With Hardware
Validation. Intelligent Systems Reference Library, Springer Nature, 194, July 2020. (ISI, Scopus)

Journal(s)
2. Tomas Docekal, Stepan Ozana, Abhaya Pal Singh, Aleksandra Kawala, Closed-loop swing-up and stabi-
lization of inverted pendulum by finite-horizon LQR applied in 2-DOF concept, to be appear in Control and
Cybernetics, vol. 49, No. 1, 2020. (Scopus)
 3. Aniket Gunjal, Abhaya Pal Singh, A Brief Bibliometric Survey on Circularly Polarized Antennas for
Mobile Communication, Library Philosophy and Practice, 2020. (Scopus, Q2)
4. Abhaya Pal Singh et al., On Selection of Improved Fractional Model and Control of Different Systems with
Experimental Validation. Communications in Nonlinear Science and Numerical Simulation, 2019.
(SCI IF = 4.115, Scopus, Q1)
5. Abhaya Pal Singh et al., Modeling, Stability and Control of Robotic Manipulators : A Fractional Calculus
Point of View. 3rd revision submitted in Arabian Journal for Science and Engineering (AJSE). (SCI IF =
1.7, Scopus, Q2)
6. Abhaya Pal Singh et al., A Robust Fractional Model Predictive Control (FMPC) Design. Progress in Frac-
tional Differentiation and Applications, 5(3), pp 217-223, 2019 (Scopus, Q2)
7. Abhaya Pal Singh et al., A Fractional Model Predictive Controller Design for 2-D Gantry Crane System.
Journal of Engineering Science & Technology, 13(7), pp. 2224-2235, 2018 (Scopus, Web of Science, Q2)
8. Abhaya Pal Singh et al., Design of compact wideband unequal wilkinson power divider with improved isola-
tion. International Journal of Engineering & Technology, 7(3), p. 1063-1066, 2018. (Scopus)
9. Abhaya Pal Singh et al., Robust Fractional Model Predictive Controller (FMPC) Design for Underactuated
Robotic Systems. International Journal of Control & Automation, 11(7), pp. 109-118, 2018. (Scopus)
10. Abhaya Pal Singh et al., Design and Analysis of Fractional Order Controller for 2-D Gantry Crane System.
Progress in Fractional Differentiation and Applications, 3(2), pp 155-162, 2017 (Scopus, Q2)
11. Abhaya Pal Singhet al., Fractional Order Controller Design for Inverted Pendulum On A Cart System
(POAC). Wseas Transactions On Systems And Control, 10, pp-172-178, 2015. (Scopus)
12. Srivastava Trisha, Abhaya Pal Singh, and Himanshu Agarwal. Modeling the Under-Actuated Mechanical
System with Fractional Order Derivative. Progress in Fractional Differentiation and Applications An Inter-
national Journal. 1(1), pp57-64. 2015. (Scopus, Q2)
13. Pritesh Shah, S.D Agashe, Abhaya Pal Singh. Fractional Order Modelling Using State Space Theory. Inter-
national Journal of Engineering and Technology, 5(3) , page 2891-2894, 2013. (Scopus)

Book Chapter(s)
14. Abhaya Pal Singh et. al., Predictive Controller Design to Control angle & Position DIPOAC. Advances in
Intelligent Systems and Computing, Springer, pp. 453-460, 828, 2018. (Scopus)
15. Abhaya Pal Singh et. al., On Modeling and Analysis of Launch Vehicle System. Lecture Notes in Electrical
Engineering, 396, pp 273-279, Springer, 2016. (Scopus)

Conference(s)
16. S. Joshi and Abhaya Pal Singh. Comparison of the performance of controllers for under-actuated systems.
IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems, pp. 1-5, 2016.
(Scopus)
17. Abhaya Pal Singh et. al., Fractional Equations of Motion Via Fractional Modeling of Underactuated Robotics
System. IEEE International conference ICARET, 2013 India.
18. Pritesh B. Shah, Prof. S D Agashe, Abhaya Pal Singh. Design of Fractional Order Controller for Undamped
Control System. 4th Nirma University International Conference on Engineering, 2013. (Scopus)
19. Abhaya Pal Singh et. al., PI α Dβ Controller Design for Underactuated Mechanical Systems. 12th IEEE
International Conference on Control , Automation, Robotics and Vision ICARCV’2012, page 1654 – 1658,
2012. (Scopus)
20. Abhaya Pal Singh et. al., Fractional Order Controller Design for Underactuated Mechanical Systems. The
5th IFAC Symposium on Fractional Differentiation and Its Applications-FDA’2012, 2012, China.
WORK STYLE
• Willing to perform basic tasks and move on to solve complex problems
• Able to learn new knowledge and adapt to new environments quickly
• Strong independent work style and excellent teamwork skills
• Well-organized and passionate

ACTIVE REVIEWER OF PEER REVIEWED JOURNALS

• Reviewer IEEE Transactions on Industrial Electronics
• Reviewer IEEE/ASME Transactions on Mechatronics
• Reviewer IEEE Transactions on Vehicular Technology
• SIAM Journal on Control and Optimization (SICON)
• Recognition by ACS Journals
• Reviewer Journal of Mechanical Science and Technology, Springer
• Reviewer Asian Journal of Control, Wiley
• Reviewer International Journal of Dynamics and Control, Springer
• Reviewer International Journal of Aerospace Engineering, Hindawi
• Reviewer Journal of Electrical Engineering and Technology (JEET)

BASIC INFORMATION

Name Abhaya Pal Singh

Date of Birth 08-April-1989
Father’s Name Mahendra Pal Singh
Mothers’s Name Nirmala Singh
Spouse’s Name Pallavi Srivastava
Address E1202, Kunal Iconia, Mamurdi, Pune-412101

REFERENCES
1. Dr. Faruk A. S. Kazi, Professor and Head, Electrical Engineering Department, VJTI, Mumbai, India,
Email: fskazi@el.vjti.ac.in
2. Dr. Dipankar Deb, Full Professor, Institute of Infrastructure Technology, Research and Management, Ahmed-
abad, India. Email: dipankardeb@iitram.ac.in
3. Dr. Himanshu Agrawal, Lecturer, School of Electrical Engineering, Computers and Mathematical Sciences
(EECMS), Curtin University, Perth, Australia, Email: himanshu.agr10@gmail.com/Himanshu.Himanshu@curtin.ed