Nonlinear Control Systems Engineer
Nucleus Scientific is seeking a highly skilled, experienced and motivated engineer to develop nonlinear control over mechatronic and transportation-related mobility systems. The engineer will help drive the company’s effort to design, develop, validate, and deploy control algorithms in new and innovative technology platforms. The work will require strong theoretical knowledge, hands-on implementation capability, and excellent communication skills.
Design of linear and nonlinear control systems under single- and multi-axis feed-forward/back
Signal conditioning and filtering, sensor fusion, and state estimation
Quantification and management of uncertainty in measurements and estimated state
Validation of control algorithms in desktop and hardware-in-loop simulations
Work with development team to transfer control algorithms to embedded environments
Operate in a fast paced, ever changing work environment
Ph.D. in mechanical engineering, aeronautical/astronautical engineering, electrical engineering, software engineering, or a similar engineering curriculum
5+ years experience in nonlinear control systems engineering
Strong working knowledge of servo control and electromechanical feedback control systems
Linear and nonlinear state estimation in the form of state space models
Nonlinear control systems design and stability analysis, including knowledge of Lyapunov Stability theory, sliding mode control, contraction analysis and synchronization
Expertise in linear, time-varying and nonlinear system theory, including continuous time and discrete time system representation, Z-domain and s-domain and time domain representations, nonparametric system representations
Working knowledge of sensor fusion, Kalman filters, extended Kalman filters and robust extended Kalman filters
Adaptive control, time varying systems control, and switching between control modes such as force control, trajectory control, and stiffness control
Well versed in control system design, simulation and analysis tools including Matlab/Simulink
Knowledge of Lagrangian Mechanics and Hamiltonian Mechanics and Bond Graphs
Kinematics analysis, inverse kinematics analysis and translation to code.
Excellent communication and organizational skills, including concise reports and presentations
Ability to multitask while remaining efficient and accurate
Strong background in probability theory, linear and nonlinear stochastic control systems
Experience working with gyro-stabilized systems and inertial measurement units
Design of fault-tolerant control algorithms particularly design of control and platform with dropped signals
Knowledge of observability and controllability theory, model reduction, Akaike Information Criterion and invariant subspace
Stochastic systems theory, robust control, and optimal control including MPC
Embedded experience in automotive, aerospace, and/or robotic application areas
Knowledge of inverse kinematics and trajectory control as applied to mechanical systems.
Experience in C, C++, VHDL, and/or Verilog is useful but not mandatory.
The position is based in Cambridge, MA. Please apply with resume and cover letter below.