Publications

Journal Articles

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

M. Haseli, J. Cortés

Automatica 185•2026•112722

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On the existence of Koopman linear embeddings for controlled nonlinear systems

X. Shang, M. Haseli, J. Cortés, Y. Zheng

IEEE Transactions on Automatic Control•Submitted

arXiv

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

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Koopman operators in robot learning

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

IEEE Transactions on Robotics 42•2026•1088-1107

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

M. Haseli, J. Cortés

IEEE Access 13•2025•61006-61025

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

M. Haseli, J. Cortés

Systems & Control Letters•Submitted

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

M. Haseli, J. Cortés

Automatica 153•2023•111001

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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

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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

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10.

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

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Conference Proceedings

Real-time disturbance-aware Koopman model predictive control for quadrotors in spatially varying winds

S. Kombo, M. Haseli, A. A. Stefan-Zavala, P. I. Renn, M. Gharib, J. W. Burdick

IEEE International Conference on Robotics and Automation•Submitted

PDF arXiv

Control forward-backward consistency: quantifying the accuracy of Koopman control family models

M. Haseli, J. Cortés, J. W. Burdick

Proceedings of the IEEE Conference on Decision and Control, Honolulu, Hawaii•2026•To appear

arXiv

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

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

Proceedings of the IEEE International Conference on Robotics and Automation, Vienna, Austria•2026•pp. 14153-14160

arXiv

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

M. Haseli, I. Mezić, J. Cortés

Proceedings of the 64th IEEE Conference on Decision and Control, Rio de Janeiro, Brazil•2025•pp. 1741-1746

IEEE Xplore

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. 470-475

🏆Best Student Paper Award, 2021 American Control Conference

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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

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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

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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

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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 Best Ph.D. Dissertation Award

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