PEOPLE

Dr Zaharuddin Mohamed

Professor

Senior Research Scholar

Education

  • PhD in Control Systems Engineering, University of Sheffield, U.K., 2003
  • MS in Control Systems Engineering, University of Sheffield, U.K., 1995
  • BS in Electrical, Electronics and Systems Engineering, National University of Malaysia, Malaysia, 1993

Professional Qualifications and Memberships

  • Chartered Engineer (CEng), UK.
  • Professional Engineer (Ir), Board of Engineers Malaysia (BEM).
  • Vice President, Federation of Asian Simulation Societies (ASIASIM), 2025 - present.
  • Executive Board Member, International Society of Mechanical System Dynamics (ISMSD), 2023-2028.

Professional Activities

  • Editor-in-Chief, Applications of Modelling and Simulation, ARQII Publications (Scopus CiteScore 1.4), 2023 - present.
  • Associate Editor, ISA Transactions, Elsevier (Q1), 2026 - present.
  • Associate Editor, Transactions of the Institute of Measurement and Control, Sage Publications (Q3), 2023 - present.
  • Associate Editor, Measurement and Control, Sage Publications (Q3), 2018 - present.
  • EditorialBoard Member, Journal of Low Frequency Noise, Vibration and Active Control, Sage Publications (Q1), 2019 - present.
  • Editorial Board Member, International Journal of Mechanical System Dynamics, Wiley (Q2), 2023 - present.
  • Editorial Board Member, Journal of Climbing and Walking Robots, Bon View Publishing, 2025 - present.
  • Chair, Asia Simulation Conference (ASIASIM) 2023, 25-26 October 2023, Langkawi, Malaysia.
  • General Chair, International Conference on Mechatronics, Robotics and Control Systems (MRCS), 2025 (Nanxun, China), 2026 (Zhumadian, China).
  • Program Co-Chair, Asia Pacific Conference on Intelligent Robot System (ACIRS), 2022 (China), 2023 (Xi'an, China), 2024 (Dalian, China), 2026 (Hong Kong).
  • Program Chair, International Conference on Computer Modelling and Simulation (ICCMS), 2025 (Zhuhai, China), 2026 (Hangzhou, China).

Teaching

Postgraduate:

  • Modelling and Simulation of Dynamic Systems
  • Adaptive and Self-tuning Control
  • Control Systems Engineering
  • Research Methodology

Undergraduate:

  • Basic Electrical Engineering
  • Electrical Technology
  • Engineering Mechanics
  • System Modelling and Analysis
  • Control System Designs
  • Modern Control Systems
  • Design Thinking

Research Interests

  • Modelling and Control of Mechatronic Systems;
  • Control Systems Engineering;
  • Mechatronics;
  • Robotics;
  • Vibration Control;
  • Command Shaping Control;
  • Automation.

Edited Books

  1. N. A. Wahab and Z. Mohamed, Control, Instrumentation and Mechatronics: Theory and Practice, Lecture Notes in Electrical Engineering, 921, 2022, Springer, ISBN: 978-981-19-3922-8.
  2. Z. Mohamed, F. Hassan, G. Tan, A. Ahmad, L. Pei Ling and S. Buyamin, Systems Modelling and Simulation, Communications in Computer and Information Science, 2483, 2025, Springer, Singapore, ISBN: 978-981-96-4613-5.

Selected Journal Publications

  1. M.O. Elhabib, H. Wahid, Z. Mohamed, H.I. Jaafar, O.A. Elhabib, Robust Vibration Suppression of Double-Pendulum Gantry Cranes via Integral LQR Optimized with an Improved Genetic Algorithm Incorporating Sine–Cosine Operators, Journal of Vibration Engineering and Technologies, 14, 2026, 323.
  2. A. Wahid, I.A. Rohman, Z. Mohamed, Exhaustive grid search for multivariable model predictive control parameter optimization in dimethyl ether synthesis, South African Journal of Chemical Engineering, 57, 2026, 100902.
  3. M.A. Shehu, A.B. Alhassan, Z. Mohamed, M.Ö. Efe, K. Talapiden, T.D. Do, Composite super-twisting control of an underactuated crane with partial-state measurements under parameter uncertainties and frictions: design and experiments, ISA Transactions, 173, 2026, 648-660.
  4. K. Talapiden, A.B. Alhassan, Z. Mohamed, M.A. Shehu, T.D. Do, Combined neural network-based adaptive input shaping and feedback control for effective automation of tower cranes under payload hoisting, Journal of Vibration and Control, Available online on 6 January 2026.
  5. M.M. Bello, Z. Mohamed, M.O. Efe, N.A. Mohd Subha, F. Hassan, N. Sunar, M.O. Tokhi, A.M. Abdullahi, Efficient swing control of an underactuated overhead crane carrying distributed-mass payload with parameter uncertainties, Journal of Low Frequency Noise, Vibration and Active Control, Available online on 10 March 2026.
  6. M.Z. Mohd Tumari, M.A. Ahmad, Z. Mohamed, Identification of the Continuous-time Hammerstein models with sparse measurement data using improved marine predators algorithm, Arabian Journal for Science and Engineering, 50, 2025, 10567-10592.
  7. M.O. Efe, B. Kurkcu, C. Kusnakoglu, Z. Mohamed, Z. Liu, Switched neural networks for simultaneous learning of multiple function, IEEE Transactions on Emerging Topics in Computational Intelligence, 8(4), 2024, 3095-3104.
  8. M.M. Bello, Z. Mohamed, S.M.F ur Rehman, W.A. Balogun, K. Aibek, S. Gamzat, Multi-mode input shapers for oscillation control of an overhead crane with distributed mass payload, Applications of Modelling and Simulation, 8, 2024, 191-200.
  9. M.M. Bello, Z. Mohamed, M.Ö. Efe, H. Ishak, Modelling and dynamic characterisation of a double-pendulum overhead crane carrying a distributed-mass payload, Simulation Modelling Practice and Theory, 134, 2024, 102953.
  10. M.O. Efe, B. Kurkcu, C. Kusnakoglu, Z. Mohamed, Z. Liu, Masked multiple state space model identification using FRD and evolutionary optimization, IEEE Transactions on Industrial Informatics, 20(7), 2024, 9861-9869.
  11. M.O. Efe, B. Kurkcu, C. Kusnakoglu, Z. Mohamed, Z. Liu, A modified Levenberg Marquardt algorithm for simultaneous learning of multiple datasets, IEEE Transactions on Circuits and Systems II: Express Briefs, 71(4), 2024, 2379-2383.
  12. N. Hadidi, M. Bouaziz, C. Mahfoudi, Z. Mohamed, Geometric approach to solve inverse kinematics of 6 DOF robot with spherical joint, Acta Polytechnica, 63(5), 2023, 326-346.
  13. A. Haruna, Z. Mohamed, M.O. Efe and A.M. Abdullahi, Switched step integral backstepping control for nonlinear motion systems with application to a laboratory helicopter, ISA Transactions, 141, 2023, 470-481.
  14. S.M. Fasih ur Rehman, Z. Mohamed, A.R. Husain, L. Ramli, M.A. Abbasi, W. Anjum and M.H. Shaheed, Adaptive input shaper for payload swing control of a 5-DOF tower crane with parameter uncertainties and obstacle avoidance, Automation in Construction, 154, 2023, 104963.
  15. A. Noordin, M.A.M. Basri, Z. Mohamed, Adaptive PID control via sliding mode for position tracking of quadrotor MAV: Simulation and real-time experiment evaluation, Aerospace, 10, 2023, 512.
  16. A. Haruna, Z. Mohamed, M. A. Abdullahi, M. A. Mohd Basri, A review of control algorithms for twin rotor systems, Applications of Modelling and Simulation, 7, 2023, 93-99.
  17. A. Nordin, M.A.M. Basri, Z. Mohamed, Real-time implementation of an adaptive PID controller for the quadrotor MAV embedded control system, Aerospace, 10, 2023, 59.
  18. A. Nordin, M.A. Mohd Basri, Z. Mohamed, Position and attitude tracking of MAV quadrotor using SMC-based adaptive PID controller, Drones, 6(9), 2022, 263.
  19. C. Sun, S. Agha, Z. Mohamed, M.H. Shaheed, Optimised sliding mode control of a hexacopter: simulation and experiments, Electronics, 11, 2022, 2519.
  20. S. M. Fasih ur Rehman, Z. Mohamed, A.R. Husain, H.I. Jaafar, M.H. Shaheed, M.A. Abbasi, Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations, Mechanical Systems and Signal Processing, 175, 2022, 109106.
  21. O.O. Obadina, M.A. Thaha, Z. Mohamed, M.H. Shaheed, Grey-box modelling and fuzzy logic control of a leader-follower robot manipulator system: A hybrid grey wolf-whale optimisation approach, ISA Transactions, 129, 2022, 572-593.
  22. I. Mat Lazim, A.R. Husain, Z. Mohamed, M.A.M. Basri, N.A. Mohd Subha, L. Ramli, Effective formation tracking of quadrotors with intelligent disturbance observer-based control, Iranian Journal of Science and Technology, Transactions of Electrical Engineering, 45, 2021, 761-776.
  23. H.I. Jaafar, Z. Mohamed, M.A. Ahmad, N.A. Wahab, L. Ramli, M.H. Shaheed, Control of an underactuated double-pendulum overhead crane using improved model reference command shaping: Design, simulation and experiment, Mechanical Systems and Signal Processing, 151, 2021, 107358.
  24. A. Noordin, M.A.M. Basri, Z. Mohamed, Adaptive PID controller using sliding mode approaches for quadrotor UAV attitude and position, Arabian Journal for Science and Engineering, 46, 2021, 963-981.
  25. A.M. Abdullahi, Z. Mohamed, H. Selamat, H. R. Pota, M.S. Zainal Abidin and S.M. Fasih, Efficient control of a 3D overhead crane with simultaneous payload hoisting and wind disturbance: design, simulation and experiment, Mechanical Systems and Signal Processing, 145, 2020, 106893.
  26. S.M. Fasih, Z. Mohamed, A.R. Husain, L. Ramli, A.M. Abdullahi, W. Anjum, Payload swing control of a tower crane using a neural network-based input shaper, Measurement and Control, 53(7-8), 2020, 1171-1182.
  27. A. Haruna, Z. Mohamed, M.O. Efe and M.A.M. Basri, Improved integral backstepping control of variable speed motion systems with application to a laboratory helicopter, ISA Transactions, 97, 2020, 1-13.
  28. L. Ramli, Z. Mohamed, M.O. Efe, I.M. Lazim, H.I. Jaafar, Efficient swing control of an overhead crane with simultaneous payload hoisting and external disturbances, Mechanical Systems and Signal Processing, 135, 2020, 106326.
  29. I.M. Lazim, A.R. Husain, Z. Mohamed, M.A.M. Basri, N.A.M. Subha, L. Ramli, Disturbance observer-based formation tracking control of multiple quadrotors in the presence of disturbances, Transactions of the Institute of Measurement and Control, 41(14), 2019, 4129-4141.
  30. A.A. Khalili, Z. Mohamed, M.A.M. Basri, Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system, Microsystem Technologies, 25, 2019, 3765-3777.
  31. S.F. Abd Latip, A.R. Husain, Z. Mohamed, M.A.M., Adaptive PID actuator fault tolerant control of single-link flexible manipulator, Transactions of the Institute of Measurement and Control, 41(4), 2019, 1019-1031.
  32. M.S.A. Mahmud, M.S. Zainal Abidin, Z. Mohamed, M.K.I. Abdul Rahman, M. Iida, Multi-objective path planner for an agriculture mobile robot in a virtual greenhouse environment, Computers and Electronics in Agriculture, 157, 2019, 488-499.
  33. M.J. Maghsoudi, L. Ramli, S. Sudin, Z. Mohamed, A.R. Husain, H. Wahid, Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting, Mechanical Systems and Signal Processing, 123, 2019, 466-482.
  34. H.I. Jaafar, Z. Mohamed, N.A. Mohd Subha, A.R. Husain, F.S. Ismail, L. Ramli, M.O. Tokhi, M.A. Shamsudin, Efficient control of a nonlinear double-pendulum overhead crane with sensorless payload motion using an improved PSO-tuned PID controller, Journal of Vibration and Control, 25(4), 2019, 907-921.
  35. H.I. Jaafar, Z. Mohamed, M.A. Shamsudin, N.A. Mohd Subha, L. Ramli, A.M. Abdullahi, Model reference command shaping for vibration control of multimode flexible systems with application to a double-pendulum overhead crane, Mechanical Systems and Signal Processing, 115, 2019, 677-695.
  36. L. Ramli, Z. Mohamed, H.I. Jaafar, A neural network-based input shaping for swing suppression of an overhead crane under payload hoisting and mass variations, Mechanical Systems and Signal Processing, 107, 2018, 484-501.
  37. A.M. Abdullahi, Z. Mohamed, H. Selamat, H.R. Pota, M.S. Zainal Abidin, F.S. Ismail, A. Haruna, Adaptive output-based command shaping for sway control of a 3D overhead crane with payload hoisting and wind disturbance, Mechanical Systems and Signal Processing, 98, 2018, 157-172.
  38. A. Haruna, Z. Mohamed, M.O. Efe and M.A.M. Basri, Dual boundary conditional integral backstepping control of a twin rotor MIMO system, Journal of the Franklin Institute, 354(15), 2017, 6832-6854.
  39. A.M. Abdullahi, Z. Mohamed, M.S. Zainal Abidin, S. Buyamin, A.A. Bature, Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting, Transactions of the Institute of Measurement and Control, 39(10), 2017, 1443-1453.
  40. L. Ramli, Z. Mohamed, A.M. Abdullahi, H.I. Jaafar, I.M. Lazim, Control strategies for crane systems: a comprehensive review, Mechanical Systems and Signal Processing, 95, 2017, 1-23.
  41. M.J. Maghsoudi, Z. Mohamed, S. Sudin, S. Buyamin, H.I. Jaafar, S.M. Ahmad, An improved input shaping design for an efficient sway control of a nonlinear 3D overhead crane with friction, Mechanical Systems and Signal Processing, 92, 2017, 364-378.
  42. M.J. Maghsoudi, Z. Mohamed, M.O. Tokhi, A.R. Husain, M.S. Zainal Abidin, Control of a gantry crane using input shaping schemes with distributed delay, Transactions of the Institute of Measurement and Control, 39(3), 2017, 361-370.
  43. M. Sayahkarajy, Z. Mohamed and A.A.M. Faudzi, A review of modelling and control of flexible-link manipulators, Proceedings of IMechE-Part I: Journal of Systems and Control Engineering, 230(8), 2016, 861-873.
  44. M. Sayahkarajy, Z. Mohamed, A.A.M. Faudzi, Hybrid vibration and rest-to-rest control of a two-link flexible robotic arm using H∞ loop-shaping control design, Engineering Computations, 33(2), 2016, 395-409.
  45. Z. Mohamed, M. Khairudin, A.R. Husain, B. Subudhi, LMI-based robust PD control of a two-link flexible manipulator, Journal of Vibration and Control, 22(5), 2016, 1244-1256.
  46. M.J. Maghsoudi, Z. Mohamed, A.R. Husain and M.O. Tokhi, An optimal performance control scheme for a 3D crane, Mechanical Systems and Signal Processing, 66-67, 2016, 756-768.
  47. S.M. Ahmad, O.A. Ahmed, Z. Mohamed, Vibration induced failure analysis of a high speed rotor supported by active magnetic bearings, Transactions of the Canadian Society for Mechanical Engineers, 39(4), 2015, 855-866.
  48. M. Khairudin, Z. Mohamed, A.R. Husain, M.A. Ahmad, Dynamic modeling and characterization of a two-link flexible robot manipulator, Journal of Low Frequency Noise, Vibration and Active Control, 29(3), 2010, 207-219.
  49. Z. Mohamed, A.K. Chee, A.W.I. Mohd Hashim, M.O. Tokhi, S.H.M. Amin, R. Mamat, Techniques for vibration control of a flexible manipulator system, Robotica, 24(4), 2006, 499-511.
  50. M.Z. Mohd Zain, M.O. Tokhi, Z. Mohamed, Hybrid learning control schemes with input shaping of a flexible manipulator system, Mechatronics, 16, 2006, 209-219.
  51. Z. Mohamed, J.M. Martins, M.O. Tokhi, J. Sa da Costa, M.A. Botto, Vibration control of a very flexible manipulator system, IFAC Control Engineering Practice, 13(3), 2005, pp. 267-277.
  52. Z. Mohamed, M.O. Tokhi. Command shaping techniques for vibration control of a flexible robot manipulator, Mechatronics, 14(1), 2004, 69-90.
  53. J.M. Martins, Z. Mohamed, M.O. Tokhi, J. Sa da Costa, M.A. Botto, Approaches for dynamic modelling of flexible manipulator systems, Proceedings of IEE - Control Theory and Applications, 150(4), 2003, 401-411.
  54. Z. Mohamed, M.O. Tokhi, Hybrid control schemes for input tracking and vibration suppression of a flexible manipulator, Proceedings of IMechE-I: Journal of Systems and Control Engineering, 217(1), 2003, 23-34.
  55. Z. Mohamed, M.O. Tokhi, Vibration control of a single-link flexible manipulator using command shaping techniques, Proceedings of IMechE-I: Journal of Systems and Control Engineering, 216(2), 2002, 191-210.
  56. M.O. Tokhi, Z. Mohamed, M.H. Shaheed, Dynamic characterisation of a flexible manipulator system, Robotica, 19(5), 2001, 571-580.
  57. M.O. Tokhi, Z. Mohamed, M.H. Shaheed, Dynamic modelling of a flexible manipulator system incorporating payload: theory and experiments, Journal of Low Frequency Noise, Vibration and Active Control, 19(4), 2000, 209-229.
  58. M.O. Tokhi, Z. Mohamed, A.W.I. Hashim, Modelling of a flexible robot manipulator using finite element methods: a symbolic approach, Journal of Low Frequency Noise, Vibration and Active Control, 18(2), 1999, 63-76.
  59. M.O. Tokhi, Z. Mohamed, A finite element approach to dynamic modelling of a flexible robot manipulator: performance evaluation and computational requirements, Communications in Numerical Methods in Engineering, 15(9), 1999, 669-676.
  60. M.O. Tokhi, Z. Mohamed, A.K.M. Azad, Finite difference and finite element approaches to dynamic modelling of a flexible manipulator, Proceedings of IMechE-I: Journal of Systems and Control Engineering, 211(2), 1997, pp. 145-156.
Dr Zaharuddin Mohamed

Professor