Department of Electrical Engineering
IIT Bombay, Powai
Mumbai 400076, India
Email : dc[AT]ee.iitb.ac.in
Phone : (91)-22-25767420
Office room no: New Office Complex, 1st floor EE (next to PC Lab)

• Theoretical: Multi Agent Systems, Differential Games, Optimal Control and Optimization, Linear Systems, System Identification and Estimation

• Experimental: Control of Haptic Interfaces, Transportation Systems and Traffic Modeling, Embedded Control of Multi-Agent Systems, Human-in-loop Control Systems

• PhD: University of Florida, Gainesville, USA, 2007
• M. Tech.: IIT Kanpur, Kanpur, India, 2003
• B.E.: Jadavpur University, Kolkata, India, 2001

• EE636: Matrix Computations (Spring 2024)
• EE638: Estimation and Identification (Autumn 2023)
• EE302: Control Systems (Spring 2022)
• EE613: Nonlinear Dynamical Systems (Autumn 2020)
• EE622: Optimal Control (Spring 2015)
• EE615: Control and Computation Laboratory (Autumn 2015)
• EE640: Multivariable Control Systems (Autumn 2012)
• EE324: Control Systems Lab (Autumn 2023)
• Summer Course (Summer 2011): Optimization over Infinite Dimensional Vector Spaces
• EE749: Decentralized Control of Complex Systems (Autumn 2021)

ISRO: (jointly with Prof. Madhu Belur). Title: Hybrid Control and Fault Detection during re-entry of Reusable Launch Vehicles, 2009-2012.

Department of Science and Technology: (jointly with Prof. Subhananda Chakrabarti) Title: CONTROL AND OPTIMIZATION OF PULSED LASER DEPOSITION TECHNIQUE FOR GROWTH OF ZnO BASED MATERIALS AND DEVICES, 2009-2012.

Royal Academy of Engineering, UK(Research Exchanges with China and India): (jointly with Dr. Balarko Chaudhuri, Imperial College London) Title: Wide-area Damping Control With Limited Data Feedback

Department of Science and Technology: (jointly with Prof Madhu Belur): Cooperative and Antagonistic Control of Distributed and Multi-Agent Systems 2013-2016.

TATA Centre, IIT Bombay: (jointly with Prof Arindrajit Chowdhury, ME, IITB) Title: Modular Mass Transit using Platoons of Battery Assisted Human Powered Vehicles: 2015-2016

IRCC 2013 Young Investigator Award: 2015-2016

Department of Science and Technology: (jointly with Prof. D. Manjunath, IIT Bombay): Title: Theory and Experiments with Humans-in-loop Control of Distributed Hybrid Automata (approved) 2019-2022.

TATA Centre, IIT Bombay: (PI: Prof Arindrajit Chowdhury, ME, IITB) Title: Indigenous E-bikes: 2017-2018

Department of Science and Technology: (PI: Prof. S. Mukhopadhyay, Department of Mathematics, IIT Bombay) Title: Optimal Design of Experiments with Correlated Observations, 2018-2021.

CAIR, DRDO: (PI: Prof Sachin Patkar, Department of Electrical Engineering, IIT Bombay) FPGA Based High Power Computing Hardware for 3D Occupancy Map, 2019-2020.

• Vatsal Kedia: System Identification with Large Data Sets
• Rishabh Kumar Singh: Herding Problem

• Aditya Chowdhury: Pursuit Games (Currently at John Deere)
• Vurukonda Sathish: Estimation over graphs (jointly with Prof S. Mukhopadhyay, Maths): now at SLK Software
• Vishal Sawant: Need based communication in multi-agent systems (jointly with Prof Debasattam Pal, EE): currently Assistant Professor at IIT Hyderabad
• Parshotam Vaswani (ext: NPCIL): Pole Placement in Nuclear Reactor Control (jointly with Dr Tamboli, BARC)
• Indrajit Desai: Robust Controllers for Haptic Interfaces (jointly with Prof Abhishek Gupta, ME)
• Apurva Joshi: Multi-quadcopter Cooperation(IITB-Monash Academy ): jointly with Prof Hoam Chung ) (currently at Indrones)
• Subashish Datta: Controller Optimization with Regional Pole Placement (Assistant Prof at IIT Delhi )
• Deepak Patil: Computation of Time Optimal Feedback Control Using Groebner basis (Assistant Professor, IIT Delhi)
• Ameer Mulla: Time Optimal Consensus in Multi-agent systems (Assistant Professor, IIT Dharwad)

• Santosh Muthe: Human in the loop control
• Milan Yadav: Indoor Quadcopters
• Asim Ukaye (jointly with Prof Hemendra Arya, AE)
• Mohd. Faizuddin Faruqui (sp. ISRO): Human-in-loop multi-agent systems
• Jithu Krishna: Battery assisted human powered trikes
• Mohit Ludhyani: Quadcopters
• Ankit Wala: Quadcopters
• Shantanu Wasu: Battery assisted human powered trikes
• Mohit Gagrani: Formation flights with Quadcopters (Currently at Bosch, India)
• Subhadip Hazra: Formation flights with Quadcopters (Currently at Rambus)
• Pankaj Patel: Formation flights with Quadcopters
• Nitin Chavan: Formation flights with Quadcopters
• Rakesh Chavan: Modeling and Analysis of Laneless Indian Traffic (Currently at MATLAB)
• Indrajit Ahuja: Formation flights with Quadcopters (currently at LnT)
• Narendra H. Limbu: Formation flights with Quadcopters (currently at IFM Electronics, India)
• Sujay Bhatt: Multiplayer Pursuit Evasion Games (currently PhD student at University of Waterloo)
• Sudeep Solanki: Formation flights with Quadcopters (currently at Eaton)
• Soniya Jain: Formation flights with Quadcopters (currently at DRDO)
• Harshal Sonar: Formation flights with Quadcopters (currently at PhD Student at EPFL)
• Kritika Shahu: Quadcopter fabrication and control (Currently at Analog Devices)
• Abhishek G.S.: Quadcopter fabrication and control (Currently at Mathworks, India)
• Gopinath Patro: Quadcopter fabrication and control(currently at Parle Global Technologies)
• Uttam Pal: Mathematical modelling of PLD (currently at COMSOL)
• Prashant Mer: Numerical Methods in Optimal Control (currently at GE Bangalore)
• Pratyush Chakraborty: Numerical Methods in Optimal Control (currently a PhD student at ECE, University of Florida)
• Nikunj Bhagat (jointly with Prof Prasanna Gandhi (Mech Eng)): Glove device for Tremor Control in Surgery (currently PhD Student at University of Houston)
• Sushant Hingane: Modeling and Control of Re-usable Launch vehicle, (Currently at CAE Simulations Technologies)
• R. Anand: Modelling and Control of Pulsed Laser Deposition. (Currently a PhD student at ECE, University of Florida)
• Anjali Jadav: Control of Diabetes Mellitus with Minimum Blood Glucose Measurements. (Currently working as a Lecturer in A.C. Patil College of Engineering.)
• C. Shaikshavali: Minimum Input Bound Computations in LTI systems. (Currently assistant prof. at Amrita University, Kerala, India.)

1. Siuli Mukhopadhyay, Debraj Chakraborty, “Estimation of Undetected Covid-19 Infections in India”, Medrxiv link

1. PD Vaswani, PK Tamboli, S Datta, D Chakraborty, Optimised structured state feedback controller for zone power and bulk power control of PHWRs, Annals of Nuclear Energy, 2021
2. Aditya Chaudhari and Debraj Chakraborty, A time-optimal feedback control for a particular case of the game of two cars, in IEEE Transactions on Automatic Control, Jan 2021
3. Aditya Chaudhuri, Debraj Chakraborty, Time optimal consensus tracking with multiple leaders, International Journal of Control, 2021.
4. Vishal Sawant, Debraj Chakraborty, Debasattam Pal, Intermittent Feedback Based Rejection of Persistent Bounded Disturbance, accepted in IEEE Transactions on Automatic Control, 2020.
5. P.D. Vaswani and Debraj Chakraborty, Optimal State Feedback Controller for a Nuclear Reactor, IEEE Transactions on Nuclear Science, Early Access, Nov 2019.
6. Apurva Joshi, Vishal Sawant, Debraj Chakraborty, Hoam Chung, Min-max time consensus tracking on a multi-quadrotor testbed, Control Engineering Practice, Nov 2019.
7. Apurva Joshi, Ankit Wala, Mohit Ludhiyani, Debraj Chakraborty, Hoam Chung and D. Manjunath, Outdoor cooperative flight using decentralized consensus algorithm and a guaranteed real-time communication protocol, Control Engineering Practice, July 2019.
8. Indrajit Desai, Abhishek Gupta and Debraj Chakraborty, Rendering Stiff Virtual Walls Using Model Matching Based Haptic Controller, to appear in IEEE Transactions on Haptics, Jan 2019.
9. Ameer Mulla, Apurva Joshi, Rakesh U. Chavan, Debraj Chakraborty, D. Manjunath, A Microscopic Model for Lane-Less Traffic, IEEE Transactions on Control of Network Systems, Early Access, May 2018 DOI
10. Ameer Mulla, Deepak Patil, Debraj Chakraborty, Computation of the target state and feedback controls for time optimal consensus in multi-agent systems, International Journal of Control, 91:2, 453-469, Feb 2018 (online Mar 2017).
11. Ameer Mulla and Debraj Chakraborty, Min–Max Time Consensus Tracking With Communication Guarantee, IEEE Transactions on Automatic Control, Volume: 63, Issue: 1, Jan. 2018 (online July 2017).
12. Shohana Rahman Deeba, Rahul Sharma, Tapan Kumar Saha, Debraj Chakrabarty and Andrew Thomas, Evaluation of Technical and Financial Benefits of Battery-Based Energy Storage Systems in Distribution Networks, IET Renewable Power Generation, Volume: 10, Issue: 8, 9 2016. DOI
13. Subashish Datta, Debraj Chakraborty and Madhu Belur, Reduced-order controller synthesis with regional pole constraint, International Journal of Control, Vol 89 (2), February 2016. link
14. Deepak Patil, Ameer Mulla, Debraj Chakraborty and Harish Pillai, Computation of Feedback Control for Time Optimal State Transfer using Groebner Basis, System and Control Letters, Volume 79, May 2015, Pages 1–7link
15. Subashish Datta and Debraj Chakraborty, “Feedback Norm Minimization with Regional Pole Placement”, International Journal of Control, Vol 87 (11) November 2014.link
16. Deepak Patil and Debraj Chakraborty, “Computation of Time Optimal Feedback Control using Groebner Basis”, IEEE Transactions on Automatic Control, Vol: 59(8), pp: 2271-2276, August, 2014.link
17. Rachel Kalpana, Madhu Belur and Debraj Chakraborty, Singular LQ control, optimal PD controller and inadmissible initial conditions, IEEE Transactions on Automatic Control, October 2013.
18. Subashish Datta, Debraj Chakraborty and Balarko Chaudhuri, “Partial Pole Placement with Controller Optimization”, IEEE Transactions on Automatic Control,Vol: 57(4),pp: 1051-1056, April 2012.pdf
19. Nilanjan Ray Chaudhuri, Debraj Chakraborty and Balarko Chaudhuri, “Damping Control in Power Systems under Constrained Communication Bandwidth: A Predictor Corrector Strategy”, IEEE Transactions on Control System Technology, Vol: 20(1),pp: 223-231, Jan 2012. preprint
20. S. Mukhopadhyay and D. Chakraborty, “A Computational Algorithm for Selecting Robust Designs in Safety and Quality Critical Processes”, Sankhya B 73(1) pp. 105-122, 2011.preprint
21. Nilanjan Ray Chaudhuri, Debraj Chakraborty and Balarko Chaudhuri, “An Architecture For FACTS Controllers To Deal With Bandwidth Constrained Communication”, IEEE Transactions on Power Delivery, Vol 26(1), pp 188-196, Jan 2011.preprint
22. D. Chakraborty and J. Hammer, “Robust optimal control: Operating with low error for the longest time”, International Journal of Control, Volume 83, Issue 4, pages 731 - 740, April 2010. preprint
23. D. Chakraborty, “Maximal Open Loop Operation under Integral Error Constraints”, IEEE Trans. Automatic Control, Vol. 55, No 12, Dec 2009. pdf
24. D. Chakraborty and J. Hammer, “Optimal Control during feedback failure“, International Journal of Control, Vol. 82, No. 8, August 2009, pp. 1448–1468.preprint
25. D. Chakraborty and J. Hammer, “Optimizing system performance in the event of feedback failure”, Proceedings of Applied Mathematics and Mechanics, Wiley-Interscience, Vol 7(1), April 2008. preprint

1. Vatsal Kedia, Debraj Chakraborty, Fast Subspace Identification for Large Input-Output Data, in Proceedings of American Control Conference, Atlanta, June, 2022.
2. Vishal Sawant, Debraj Chakraborty, Debasattam Pal, Asynchronous Consensus with Minimum Communication, accepted in 24th International Symposium on Mathematical Theory of Networks and System, Cambridge, UK, 2020
3. Aditya Chaudhari, Debraj Chakraborty, Solving feedback, time-optimal pursuit-evasion games using continuous subsets of reachable sets, accepted in 24th International Symposium on Mathematical Theory of Networks and Systems, Cambridge UK, 2020.
4. Aditya Chaudhari, Debraj Chakraborty, Characterization of the game of two cars using reachable sets for feedback strategies, in Proceedings of IEEE Conference on Decision and Control, Nice, France on December 11-13, 2019
5. Vurukonda Sathish, Debraj Chakraborty, Siuli Mukhopadhyay, Topology selection using Monte Carlo Expectation and Maximization algorithm with $ell_{1}$-type regularization for count data, in Proceedings of IEEE Conference on Decision and Control, Nice, France on December 11-13, 2019
6. Apurva Joshi, Vishal Sawant, Debraj Chakraborty, Hoam Chung, Implementation of Min-Max Time Consensus Tracking on a Multi-Quadrotor Testbed, in Proceedings of the European Control Conference, Naples, Italy, June 26-28, 2019.
7. Aditya Chaudhari, Rishabh Chourasia, Debraj Chakraborty, A computationally efficient feedback solution for a particular case of the game of two cars, in Proceedings of the European Control Conference, Naples, Italy, June 26-28, 2019.
8. Aditya Chaudhari, Debraj Chakraborty, Time Optimal Consensus Tracking for Kinematic Points in a Plane, in Proceedings of American Control Conference, Milwaukee, USA, June 27–-29, 2018.
9. Vishal sawant, Debraj Chakraborty*, Debasattam Pal, Intermittent Feedback Based Rejection of Persistent Bounded Disturbance, in Proceedings of American Control Conference, Milwaukee, USA, June 27–-29, 2018.preprint
10. Indrajit Desai, Abhishek Gupta, Debraj Chakraborty, Rendering Mass Using Model Matching Framework, in Proceedings of IEEE Haptics Symposium, San Francisco, California, USA, March 2018.
11. Apurva Joshi, Ankit Wala, Mohit Ludhiyani, Saksham Singh, Mohit Gagrani, Subhadip Hazra, Debraj Chakraborty, D Manjunath, Hoam Chung, Implementation of distributed consensus with guaranteed real-time communication on an outdoor quadcopter testbed, in Proceedings of 56th IEEE Conference on Decision and Control, Melbourne, Australia Dec 12-15, 2017.
12. Ameer Kalandar Mulla, Deepak Anand, Debraj Chakraborty, Madhu N. Belur, Leader Selection for Minimum-Time Consensus in Multi-Agent Networks, in Proceedings of 56th IEEE Conference on Decision and Control, Melbourne, Australia Dec 12-15, 2017.
13. Apurva Joshi, Debraj Chakraborty, Experimental verification of a dynamic model for lane-less (Indian) traffic, in Proceedings of 20th IFAC World Congress, Toulouse, France, Volume 50, Issue 1, 9-14, July 2017, Pages 7493-7498.
14. Indrajit Desai, Abhishek Gupta, Debraj Chakraborty, A Model Matching Framework for Haptic Controller Design, in Proceedings of American Control Conference, Seattle, WA, USA, May 24–-26, 2017.
15. Ameer K. Mulla, Rakesh U. Chavan and Debraj Chakraborty, “A Model for Lane-less Traffic with Local Control Laws”, in Proceedings of Indian Control Conference, Guwahati, India, 4-6 Jan, 2017.
16. Ameer K. Mulla, Deepak U. Patil and Debraj Chakraborty, “An O(N^2) Algorithm for Computation of the Minimum Time Consensus”, in Proceedings of 55th IEEE Annual Conference on Decision and Control (CDC), Las Vegas, USA, 12-14 Dec, 2016.
17. Rakesh U. Chavan, Ameer Mulla, Debraj Chakraborty, D. Manjunath, A Model for Lane-less Traffic with Local Control Laws, Proceedings of European Control Conference, Aalborg, Denmark, July 29-2, 2016.
18. Apurva Joshi, Narendra Limbu, Indrajit Ahuja, Ameer Mulla, Hoam Chung, Debraj Chakraborty, Implementation of Distributed Consensus On Outdoor Testbed, Proceedings of European Control Conference, Aalborg, Denmark, July 29-2, 2016.
19. Indrajit Desai, Abhishek Gupta, Debraj Chakraborty, Transparency enhancement of haptic interface using model matching approach, Proceedings of Indian Control Conference, Hyderabad,Jan 2016.
20. Indrajit Desai, Abhishek Gupta, Debraj Chakraborty, Stable and Accurate Rendering of Stiff Virtual Walls at Low Sampling Rates, Proceedings of Eurohaptics 2016.
21. Deepak Patil and Debraj Chakraborty, Time Optimal Feedback Control using Chebyshev Polynomials and Groebner Basis, Proceedings of 8th IFAC Symposium on Robust Control Design, Bratislava, Slovakia, July 8-11, 2015.
22. Ameer Mulla, Debraj Chakraborty, Communication Preserving Min-Max Time Consensus Tracking, Proceedings of European Control Conference, Linz, Austria, July 15-17, 2015.
23. Narendra H. Limbu, Indrajit Ahuja, Harshal Sonar, Sudeep Solanki, Soniya Jain, Hoam Chung, Debraj Chakraborty, Outdoor Co-Operative Control of Multiple Quadcopters Using Decentralized GPS Localisation, in Proceedings of 10th International Workshop on Robot Motion and Control (RoMoCo'15), Poznan, Poland, July 6-8, 2015.
24. Harshal Sonar, Sudeep Solanki, Soniya Jain, Debraj Chakraborty, Leader-Follower Co-Operative Control Configuration on a Testbed of Quadcopters, in Proceedings of Indian Control Conference, Chennai, India, January 5-7, 2015.
25. Subashish Datta and Debraj Chakraborty, Controller Order Reduction with Pole Region Constraint, in Proceedings of 53rd IEEE Conference on Decision and Control, Los Angeles, California, USA, December 15-17, 2014.
26. Ameer Mulla, Deepak Patil and Debraj Chakraborty, Distributed Computation of Minimum Time Consensus for Multi-Agent Systems, in Proceedings of 53rd IEEE Conference on Decision and Control, Los Angeles, California, USA, December 15-17, 2014.
27. Ameer Mulla, Sujay Bhatt, Deepak Patil and Debraj Chakraborty, Min-max Time Consensus Tracking Over Directed Trees, in Proceedings of 21st International Symposium on Mathematical Theory of Networks and Systems, July 2014, Groningen, The Netherlands.
28. Deepak Patil, Ameer Mulla, Debraj Chakraborty, Harish Pillai, “Groebner Basis Computation of Feedback Control for Time Optimal State Transfer”, in Proceedings of 52nd IEEE Conference on Decision and Control, Florence, Italy, Dec 2013.
29. Subashish Datta and Debraj Chakraborty, “Minimal State Measurements for Regional Pole Placement, in Proceedings of IEEE American Control Conference (ACC), June 17-19, Washington DC, USA, 2013.
30. Deepak Patil and Debraj Chakraborty, Switching Surfaces and Null-controllable Region of a class of LTI systems using Grobner basis, Accepted in 51st IEEE Conference on Decision and Control, Maui, HI, USA, Dec 10-13, 2012.
31. S. Datta, D. Chakraborty and M.N. Belur, Minimum order controller with regional pole placement, Proceedings of the IEEE American Control Conference (ACC), Montreal, Canada, 2012.
32. Akilez Krishnamurthy, Madhu N. Belur, Debraj Chakraborty, “Comparison of Various Linear Discriminant Analysis Techniques for Fault Diagnosis of Re-Usable Launch Vehicle”, Proceedings of 50th IEEE Conference on Decision and Control, Dec 12-15, 2011.
33. Subashish Datta, Debasattam Pal and Debraj Chakraborty, “Partial Pole Placement and Controller Norm Optimization over Polynomial Stability Region”, Proceedings of the 18th IFAC World Congress, Milan, Italy, 28 Aug-2 Sep, 2011.preprint
34. Subashish Datta, Balarko Chaudhuri and Debraj Chakraborty, “Partial Pole Placement with Minimum Norm Controller”, Proceedings of the 49th IEEE conference on Decision and Control, Atlanta, USA, Dec 15-17, 2010.preprint
35. Debraj Chakraborty, “Bang-Bang Solutions To The Open Loop Maximal Time Problem”, Proceedings of the 19th International Symposium on Mathematical Theory of Networks and Systems, Budapest, Hungary, July 2010.preprint
36. Debraj Chakraborty and Siuli Mukhopadhyay, “Robust Control Settings for Repeated Manufacturing Processes”, Proceedings of the 8th Mediterranean Conference on Control and Automation, Marrakech, Morocco, June 23-25, 2010.preprint
37. D. Chakraborty and C. Shaikshavali, “An Approximate Solution to the Norm Optimal Control Problem”, Proceedings of IEEE International Conference on Systems, Man, and Cybernetics, San Antonio, Texas, USA, October 11-14, 2009.pdf
38. D. Chakraborty and J. Hammer, “Optimal Low Error Control of Disturbed Systems”, Proceedings of IEEE International Conference on Systems, Man, and Cybernetics, San Antonio, Texas, USA, October 11-14, 2009.pdf
39. D. Chakraborty, “Maximal Open Loop Operation with Bounded Integral Error”, Proceedings of European Control Conference, Budapest, Hungary, August 23-26, 2009. pdf
40. D. Chakraborty and J. Hammer, “Control During Feedback Failure: Characteristics of the Optimal Solution”, Proceedings of 17th Mediterranean Conference on Control & Automation, Thessaloniki, Greece, Jun 24-26, 2009. pdf
41. D. Chakraborty and J. Hammer, “Bang-bang functions: Universal approximants for the solution of min-max optimal control problem ”, accepted 13-th International Symposium on Dynamic Games and Applications, 30th June-3rd July, 2008.
42. D. Chakraborty and J. Hammer, “Robust optimal control: Maximum time of low error operation”, invited lecture 5th International Conference of Applied Mathematics and Computing, Plovdiv, Bulgaria, August 12-18, 2008.
43. D. Chakraborty and J. Hammer, “Preserving system performance during feedback failure”, Proceedings of the 17th IFAC World Congress, Seoul, Korea, July 6-11, 2008. preprint
44. D. Chakraborty and J. Hammer, “Optimizing system performance in the event of feedback failure”, 6th International Congress on Industrial and Applied Mathematics, Zurich, 16-20 July, 2007.
45. D. Chakraborty and K.E. Holé, “Performance preserving controller order reduction in the $\mu$ Setting”, Proceedings of the National Systems Conference (NSC 2003), IIT Kharagpur, Dec. 2003 pdf

• Time Optimal Feedback in Multi-agent Systems (University of Queensland, 2014)
• Simplified: Time Optimal Feedback in Multi-agent Systems (IRCC Young Investigator Award Talk, 2014)
• A Dynamic Model for Laneless Indian Traffic (Department of Electrical Engineering Colloquium, 2016)Part 2 in ppt
• Outdoor Cooperative Control Experiments with Quadcopters (IIT Gandhinagar, 2016)
• Stability in Stiff Haptic Interfaces (Department of Electrical Engineering Colloquium, 2018)