Publications

Journal Articles

Two roads to Koopman operator theory for control: infinite input sequences and operator families

M. Haseli, I. Mezić, J. Cortés

IEEE Transactions on Automatic Control•Submitted

arXiv

Modeling nonlinear control systems via Koopman control family: universal forms and subspace invariance proximity

M. Haseli, J. Cortés

Automatica 185•2026•112722

arXiv ScienceDirect

Recursive forward-backward EDMD: guaranteed algebraic search for Koopman invariant subspaces

M. Haseli, J. Cortés

IEEE Access 13•2025•61006-61025

IEEEXplore Code

Koopman operators in robot learning

L. Shi, M. Haseli, G. Mamakoukas, D. Bruder, I. Abraham, T. Murphey, J. Cortés, K. Karydis

IEEE Transactions on Robotics•To appear

arXiv

Invariance proximity: closed-form error bounds for finite-dimensional Koopman-based models

M. Haseli, J. Cortés

Systems and Control Letters•Submitted

arXiv

Generalizing dynamic mode decomposition: balancing accuracy and expressiveness in Koopman approximations

M. Haseli, J. Cortés

Automatica 153•2023•111001

arXiv ScienceDirect

Temporal forward-backward consistency, not residual error, measures the prediction accuracy of extended dynamic mode decomposition

M. Haseli, J. Cortés

IEEE Control Systems Letters 7•2023•649-654

🏆2025 IEEE Control Systems Letters Outstanding Paper Award

arXiv IEEEXplore YouTube

Parallel learning of Koopman eigenfunctions and invariant subspaces for accurate long-term prediction

M. Haseli, J. Cortés

IEEE Transactions on Control of Network Systems 8 (4)•2021•1833-1845

arXiv IEEEXplore

Learning Koopman eigenfunctions and invariant subspaces from data: symmetric subspace decomposition

M. Haseli, J. Cortés

IEEE Transactions on Automatic Control 67 (7)•2022•3442-3457

arXiv IEEEXplore

Conference Proceedings

Koopman operator extensions for control: bridging infinite input sequences and operator families

M. Haseli, I. Mezić, J. Cortés

Proceedings of the IEEE Conference on Decision and Control, Rio de Janeiro, Brazil•2025•To appear

Real-time learning of predictive dynamic obstacle models for robotic motion planning

S. B. Kombo, M. Haseli, Skylar X. Wei, J. W. Burdick

Proceedings of the IEEE International Conference on Robotics and Automation•2026•Submitted

Temporal forward-backward consistency, not residual error, measures the prediction accuracy of extended dynamic mode decomposition

M. Haseli, J. Cortés

Proceedings of the American Control Conference, San Diego•2023

Data-driven approximation of Koopman-invariant subspaces with tunable accuracy

M. Haseli, J. Cortés

Proceedings of the American Control Conference, New Orleans, Louisiana•2021•pp. 469-474

🏆2021 ACC Best Student Paper Award

IEEEXplore

Fast identification of Koopman-invariant subspaces: parallel symmetric subspace decomposition

M. Haseli, J. Cortés

Proceedings of the American Control Conference, Denver, Colorado•2020•pp. 4545-4550

IEEEXplore

Efficient identification of linear evolutions in nonlinear vector fields: Koopman invariant subspaces

M. Haseli, J. Cortés

Proceedings of the IEEE Conference on Decision and Control, Nice, France•2019•pp. 1746-1751

IEEEXplore

Approximating the Koopman operator using noisy data: noise-resilient extended dynamic mode decomposition

M. Haseli, J. Cortés

Proceedings of the American Control Conference, Philadelphia, Pennsylvania•2019•pp. 5499-5504

IEEEXplore

Theses

Data-Driven System Analysis Using the Koopman Operator: Eigenfunctions, Invariant Subspaces, and Accuracy Bounds

M. Haseli

University of California, San Diego•2022

🏆2023 Robert Skelton Systems and Control Dissertation Award

eScholarship