198忻欣，1987年以自动化系第2名的成绩毕业于中国科学技术大学，获得工学学士学位。1987年硕士生免试推荐至东南大学，师从中国科学院冯纯伯院士。1989年提前直接攻博，1991-1993年，获得日本文部省奖学金，作为中日联合培养博士生（师从冯纯伯院士和Hidenori Kimura教授）在日本大阪大学进行研究，1993年获得东南大学工学博士学位。2000年又获得日本东京工业大学博士(工学)学位。1993-1995年在东南大学从事博士后研究，1995-1996年任东南大学副教授，1996-1997年任日本新能源产业技术综合开发机构（NEDO）最先端领域技术研究员，1997-2000年任东京工业大学助理教授，2000-2007年任冈山县立大学副教授，2008年起任冈山县立大学教授，曾任该校计算机和系统工程学院长助理、校国际交流中心副主任、系统工程系主任。现作为国家高层次人才任东南大学教授、博士导师，正在组建有关机器人与智能系统的研究团队和实验室。热烈欢迎优秀学生来我们实验室攻读硕士和博士学位，诚挚邀请优秀青年人才加入我们的团队。每年计划招收硕士研究生4-5名、博士研究生2名、博士后1-2名。

研究领域包括机器人系统的智能和非线性控制理论和实验验证、动作捕捉及其在机器人控制中的应用。在 IEEE Transactions on Automatic Control、IEEETransactions on Robotics、Automatica 等学术期刊和重要国际会议上发表论文230多篇，出版专著6部，其中包括2014 年由Springer出版的有关欠驱动机器人系统的非线性控制理论和实验验证成果的专著。1988年获第二届全国机器人学术会议优秀论文奖，2004年获日本计测与自动控制学会（SICE）控制部门大会奖。参加过日本国家级重大科研项目3 项，主持过日本国家科学研究基金项目6项，日本3个研究财团的研究基金项目5项。主持过中国博士后基金项目、中国国家自然科学基金青年项目等，目前主持中国国家自然科学基金面上项目、国家高层次人才项目和省双创人才项目。曾任国家973 专家组成员、日本计测与自动控制学会控制理论委员会委员，现任中国自动化学会控制理论专业委员会委员、IFAC 的Large Scale Complex Systems的技术委员会委员、IEEE高级会员等。担任过IEEE Control Systems Letters、日本计测与自动控制学会论文杂志的副编，日本机器人学会论文杂志的副编以及50多个国际学术会议的程序委员会委员。

欠驱动机器人系统的代表性工作

专著：

1        X. Xin, Y. Liu, Control Design and Analysis for Underactuated Robotic Systems. Springer, 2014. (Monograph of 319 pages)

SCI论文

1.       X. Xin, Z. Wang, Y. Liu, Parameterization of minimal order strongly stabilizing controllersfor wo-link underactuated planar robot with single sensor, Automatica, accepted.

2.       X. Xin, Y. Liu,S. Izumi, T. Yamasaki, and J. She, Nonlinear swing-down control of the Acrobot: Analysis andoptimal gain design, ISA Transactions, Available online 22 June2023.

3.       X. Xin, Y. Liu,and K. Zhang, Linear controllability of two multi-link robotic systems withmultiple unactuated joints, ISA Transactions, vol. 131, pp.264-273, 2022.

4.       X. Xin, Y. Liu,S. Hara, and Y. Muraoka, Analysis of synchronization of multiple identical metronomeson a cart via describing function approach, Asian Journal of Control,vol. 24, no. 6, pp. 2931-2951, 2022.

5.       X. Xin, K.Makino, S. Izumi, T. Yamasaki, and Y. Liu, Anti-swing control of the Pendubotusing damper and spring with positive or negative stiffness, InternationalJournal of Robust and Nonlinear Control, vol. 31, no. 9, pp. 4227-4246,2021.

6.       X. Xin, Linearstrong structural controllability and observability of an n-link underactuatedrevolute planar robot with active intermediate joint or joints, Automatica,vol. 94, pp.436-442, 2018.9

7.       X. Xin,Necessary and sufficient conditions for linear strong structural controllabilityand observability of n-linkunderactuated planar robot with multiple active intermediate links, IETControl Theory & Applications, vol. 11, no. 12, pp. 1873-1883,2017.

8.       Y. Liu, X. Xin*, Controllability and observability of an n-link planarrobot with a single actuator having different actuator-sensor configurations, IEEETransactions on Automatic Control, vol. 61, no. 4, pp. 1129-1134, 2016.

9.       X. Xin, Y. Liu, Trajectory trackingcontrol of variable length pendulum by partial energy shaping. Communicationsin Nonlinear Science and Numerical Simulation, vol. 19, no. 5, pp. 1544-1556, 2014.

10.    X. Xin, Y. Liu, A set-point control fora two-link underactuated robot with a flexible elbow joint. Transactionsof the ASME-Journal of Dynamic Systems, Measurement, and Control, vol. 135, no. 5, 051016,10 pages, 2013.

11.    X. Xin, Onsimultaneous control of the energy and actuated variables of under-actuatedmechanical systems -example of the acrobot with counterweight-. AdvancedRobotics, vol. 27, no. 12,pp. 959-969, 2013.

12.    X. Xin, S.Tanaka, J. She, T. Yamasaki, New analytical results of energy-based swing-upcontrol for the Pendubot. International Journal of Non-LinearMechanics, vol. 52, pp. 110-118, 2013.

13.    X. Xin, T. Yamasaki, Energy-based swing-up controlfor a remotely driven acrobot: Theoretical and experimental results. IEEETransactions on Control Systems Technology, vol. 20, no. 4,pp.1048-1056, 2012.

14.    X. Xin, J. She,Y. Liu, A unified solution to swing-up control for n-link planar robot withsingle passive joint based on virtual composite links and passivity. NonlinearDynamics, vol. 67, no. 2, pp.909-923, 2012.

15.    X. Xin,Analysis of the energy-based swing-up control for the double pendulum on acart. International Journal of Robust and Nonlinear Control, vol. 21, no. 4, pp. 387-403,2011.

16.    X. Xin, J. She,T. Yamasaki, Y. Liu, Swing-up control based on virtual composite links forn-link underactuated robot with passive first joint. Automatica, vol. 45, no. 9, pp. 1986-1994, 2009. (Regular paper)

17.    X. Xin, M.Kaneda, Swing-up control for a 3-DOF gymnastic robot with passive first joint:Design and analysis. IEEE Transactions on Robotics, vol. 23, no. 6, pp. 1277-1285, 2007.

18.    X. Xin, M.Kaneda, Analysis of the energy-based swing-up control of the Acrobot. InternationalJournal of Robust and Nonlinear Control, vol. 17, no. 16, pp.1503-1524, 2007.

19.    X. Xin, M.Kaneda, Analysis of the energy-based control for swinging up two pendulums. IEEETransactions on Automatic Control,vol. 50, no. 5, pp. 679-684, 2005.

20.    X. Xin, T.Mita, M. Kaneda, The posture control of a 2-link free flying acrobot withinitial angular momentum. IEEE Transactions on Automatic Control, vol. 49, no. 7, pp. 1201-1206, 2004.

鲁棒控制的代表性工作

专著：

1        冯纯伯，田玉平，忻欣，鲁棒控制系统设计，东南大学出版社，48 万字，1995.

SCI论文

1       X. Xin, Y. Liu,Reduced-order stable controllers for two-link underactuated planar robots. Automatica, vol. 49, no. 7, pp. 2176-2183, 2013.

2      J. She, X. Xin*, Y. Ohyama, Teachingsampled-data H_\infinity control theory using arm robot experiment system. IEEJTransactions on Electrical and Electronics Engineering, vol. 6, no. 6, pp. 585-593, 2011.

3      J. She, X. Xin, Y.D. Pan,Equivalent-input-disturbance approach·- Analysis and application to disturbance rejection in dual-stage feeddrive control system. IEEE/ASME Transactions on Mechatronics, vol. 16, no. 2, pp. 330-340, 2011.

4      X. Xin, Unified bound on the order of controllers using matrixpencil characterisation. IET Control Theory &Applications, vol. 4, no. 1, pp. 140-150, 2010.

5      L. Tao, L. Guo, X. Xin, Improveddelay-dependent bounded real lemma for uncertain time-delay systems. InformationSciences, vol. 179, no. 20, pp. 3711-3719, 2009.

6      X. Xin, S. Hara, M. Kaneda, Reduced-order proper H_\infinity controllers for descriptorsystems: Existence conditions and LMI-based design algorithms. IEEETransactions on Automatic Control,vol. 53, no. 5, pp. 1253-1258,2008.

7      J. She, X. Xin, Y. Ohyama, Estimationof equivalent input disturbance improves vehicular steering control. IEEETransactions on Vehicular Technology,vol. 56, no. 6, pp. 3722-3731,2007.

8      J. Wang, W.Q. Liu, Q.L. Zhang, X. Xin,H_\infinity Suboptimal model reduction for singular systems. International Journal of Control, vol. 77, no. 11, pp. 992-1000, 2004.

9      X. Xin, Reduced-order controllers for the H_\infinity control problem with unstableinvariant zeros. Automatica, vol. 40, no. 2, pp. 319-326, 2004.

10   T. Mita, T.K. Nam, X. Xin, Slidingmode control for invertible systems based on a direct design of interactors. AsianJournal of Control, vol. 5, no. 2, pp. 242-250, 2003.

11    X. Xin, T.Mita, A simple state-space design of an interactor for a non-square system viasystem matrix pencil approach. Linear Algebra and its Applications, vol. 351, pp. 809-823, 2002.

12   J. She, X. Xin, Y. Ohyama,Two-degree-of-freedom optimal preview tracking control: A mechatronic designexample. Transactions of the AMSE-Journal of Dynamic Systems, Measurement, andControl, vol. 124, no. 4, pp. 704-709, 2002.

13    X. Xin, B.D.O.Anderson, T. Mita, Complete solution of the 4-block H_\infinity control problem with infinite and finite j\omega-axiszeros. International Journal of Robust and Nonlinear Control, vol. 10, no. 2, pp. 59-81, 2000.

14    T. Mita, X. Xin, B.D.O. Anderson, Extended H_\infinity control - H_\infinity control with unstable weights. Automatica, vol. 36, no. 5, pp. 735-741, 2000.

15    X. Xin, T.Mita, Inner-outer factorization for non-square proper functions with infiniteand finite j\omega-axiszeros. International Journal of Control, vol. 71, no. 1, pp.145-161, 1998.

16    L. Guo, X. Xin, C.B. Feng, An LMI-based unified approach toreduced-order controller design. Science in China (Series E-TechnologicalSciences), vol. 40, no. 6, pp. 612-622, 1997.

17    L. Guo, X. Xin, C.B. Feng, Reduced-order output feedbackcontrollers for the robust H_\infinity performance problem. Chinese Science Bulletin, vol.42, no. 6, pp. 517-522, 1997.

18    X. Xin, L. Guo,C.B. Feng, Reduced-order controllers for continuous and discrete time singular H_\infinity control problems based on LMI. Automatica, vol. 32, no. 11, pp. 1581-1585, 1996.

19    X.Xin, H. Kimura, (J, J')-lossless factorization fordescriptor systems. Linear Algebra and its Applications, vol. 206, pp. 1289-1318, 1994.

20    X. Xin, H. Kimura,Singular (J, J')-lossless factorization forstrictly proper functions. International Journal of Control, vol. 59, no. 6, pp. 1383-1400, 1994.