# 13M051MSC

## Prof. dr Željko Đurović

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Željko M. Đurović got his Dipl. Ing. degree from the Faculty of Electrical Engineering, University of Belgrade, Yugoslavia, in 1988. He got his M. Sc. degree in 1989, and Ph. D. degree in 1994 from the same Faculty. His M.Sc. was from the field of multiple target tracking (supervised by prof. Srđan Stanković) while his Ph. D. was from the field of estimation theory supervised by prof. Branko Kovačević. He was with the Research and Development Institute for Telecommunications, Belgrade Yugoslavia, Radars Department from 1988 to 1989. Since 1989 he has been with the Faculty of Electrical Engineering, University of Belgrade, where he is currently Associate Professor of Automatic Control. He held the PostDoc. Fellow position from Jan-Oct 2000 at the Instituto Superior Technico, Lisbon, Portugal. Period Oct. 2000 - April 2002 he spent in Visteon GmbH, Koeln, Germany, as a control specialist developing the control strategies for CO2 refrigeration systems in automotive industry. His teaching activity encompasses the fields of systems control, digital signal processing, theory of estimation and stochastic systems and pattern recognition. He currently teaches different undergraduate and postgraduate courses at the Department of Signals and Systems.

**Selected papers published in international scientific journals**

A. Marjanović, M. Krstić, Ž. Đurović, B. Kovačević, ‘Control of Thermal Power Plant Combustion Distribution Using Exgtremumn Seeking’, IEEE Trans. On Control Systems Technology, Vol. 25, No. 5, pp. 1670-1682, 2017, ISSN 1063-6536, DOI 10.1109/TCST.2016.2627499

S. Vujnović, Ž. Đurović, G. Kvaščev, ''Fan mill state estimation based on acoustic signature analysis'', Control Engineering Practice, vol. 57, 2016, pp. 29-38, (M22, IF=1.83) http://dx.doi.org/10.1016/j.conengprac.2016.08.013

S. Antić, Ž. Đurović, G. Kvaščev, "Application of Structured and Directional Residuals for Fault Detection and Isolation on Permanent-Magnet DC Motor with Amplifier ", Quality and Reliability Engineering International, DOI: 10.1002/qre.1962., Feb. 2016.

D. Misović, S. Milić, Ž, Đurović: "Vessel Detection Algorithm Used in a Laser Monitoring System of the Lock Gate Zone", IEEE Transactions on Intelligent Transportation Systems, vol. 17, Issue 2, pp. 430-440. DOI: 10.1109/TITS.2015.2477352, Feb. 2016.

E. Kisić, Ž. Đurović, B. Kovačević, V. Petrović (2015), 'Application of T2 Control Charts and Hidden Markov Models in Condition-Based Maintenance at Thermoelectric Power Plants', Shock and Vibration, Vol. 2015, ISSN 1070-9622,ID 960349, doi:10.1155/2015/960349, 11 pages. (M23, IF=0.722).

D. Gajić, Ž. Đurović, J. Gligorijević, S. Di Gennaro, I. Savić-Gajić (2015), 'Detection of epileptiform activity in EEG signals based on time-frequency and non-linear analysis', Frontiers in Computational Neuroscience, 24 March 2015, doi: 10.3389/fncom.2015.00038.

S. Vujnović, P. Todorov, Ž. Đurović, A. Marjanović (2014), 'The use of Bayesian Networks in Detecting the States of Ventilation Mills in Power Plants', Electronics, vol. 18, No. 1, June 2014.

P. Tadić, Ž. Đurović (2014), 'Particle filtering for sensor fault diagnosis and identification in nonlinear plants', Journal of Process Control, Vol. 24, No. 4, pp. 401‑409.

D. Gajic, Z. Djurovic, S. Di Gennaro, F. Gustafsson, (2014), ‘Classification of EEG signals for detection of epileptic seizures based on wavelets and statistical pattern recogniton’, Biomedical Engineering Applications, Basis and Communications, Vol. 26, No 2, DOI: 10.4015/S1016237214500215.

N. A. A. Shashoa, G. Kvascev, A. Marjanovic, Z. Djurovic, (2013), ´Sensor Fault Detection and Isolation in a Thermal Power Plant Steam Separator´, Control Engineering Practice vol. 21, issue 7, (2013), pp. 908–916, DOI:10.1016/j.conengprac.2013.02.012.1)

G. Kvašcev, Z. Djurovic, and A. Marjanovic, (2013), ‘A Practical Solution for Control of Fan Drives Load in Thermal Power Plants’, Adv. Sci. Lett., 2013, vol. 19, pp.1387-1392, ISSN: 1936-6612.

G. Kvaščev, Ž. Đurović, B. Kovačević, (2011), 'Adaptive Recursive M-Robust System Parameter Identification Using the QQ-Plot Approach' , IET Control Theory & Applications, 2011, Vol. 5 (4), pp. 579:593.

R. Stričević, N. Đurović, Ž. Đurović, (2011), 'Drought classification in northern Seriba based on SPI and statistical pattern recognition', Meteorological Applicatons, Vol. 18, Issue 1, pp. 60-69. (DOI 10.1002/met.207).

G. Kvaščev, Ž. Đurović, B. Kovačević, (2010), 'Adaptive Recursive M-Robust System Parameter Identification Using the QQ-Plot Approach' , IET Control Theory & Applications (accepted for publication).

S. Mitrovic, Ž. Ðurovic, (2010), 'Fuzzy logic controller for bidirectional garaging of a differential drive mobile robot', Advanced Robotics, Vol. 24, pp. 1291-1311.

R. Stricevic, N. Ðurovic, Ž. Ðurovic, (2010), 'Drought classification in northern Seriba based on SPI and statistical pattern recognition', Meteorological Applicatons ( in press).

P. Stepanic, I.Latinovic, Ž. Ðurovic, (2009),'A new approach to detection of defects in rolling element bearings based on statistical pattern recognition', Internation Journal of Advanced Manufacturing Technology, Vol. 45, No. 1-2, pp. 91-100.

Ž. Ðurovic, B. Kovacevic, G. Dikic, (2009),'Target tracking with two passive infrared non-imaging sensors', IET Signal Processing, Vol. 3, Issue 3, pp. 177-188..

Ž. Ðurovic, B. Kovacevic, (2008), 'A Sequential LQG Approach to Nonlinear Tracking Problem', Internation Journal of Systems Science, Vol. 39, pp. 371-382.

Ž. Ðurovic, I. Kovacevic, B. Kovacevic, (2008), 'An Adaptive Channel Parameter Estimation Using QQ-plot', WSEAS Transactions on Circuits and Systems, Vol. 7, pp. 600-609.

G. Dikic, Ž. Ðurovic, (2007), 'Atmosphere Attenuation Coefficient Estimation', Electrical Engineering, Vol.89, pp. 343-347.

V. Papic, Ž. Ðurovic, B. Kovacevic (2006), 'Adaptive Doppler-Kalman filtering', IEE Vision, Image and Signal Processing, vol. 153, No. 3, June 2006, pp. 379-387.

I. Kovacevic, B. Kovacevic, Ž. Ðurovic (2006), 'On Strong Consistency of a Class of Robust Stochastic Gradient Type Systems Identification Algorithms', WSEAS Transaction on Circuits and Systems, Issue 8, Vol. 5, August 2006, pp.1244-1253.

Ž. Ðurovic, Kovacevic B., (2004), '' Bandwith selection for kernel density estimation based on QQ-plot'', WSEAS Trans. on Circuits and Systems, Vol.3, No. 3, pp. 679-687.

LJ. Miškovic., Djurovic Ž., Kovacevic B. (2002), " Application of the minimum state error variance approach to nonlinear system control", Int. J. Systems Science, Vol. 33, No. 5, pp. 359-368.

B. Kovacevic, Djurovic Ž. (2001), " Robust recursive system identification using optimal input signals", Control and Intelligent Systems, Vol. 29, No. 2, pp. 33-38.

LJ. Miškovic, Djurovic Ž. and Kovacevic B. (2000), " Nonlinear systems control using MSEV approach", Control and Intelligent Systems, Vol. 28, No. 3, pp. 110-117.

Ž. Ðurovic, Kovacevic B. (1999), "Robust estimation with unknown noise statistics",IEEE Trans. Autom. Control , Vol. 44, No 6. , June 1999., pp .1292-1296.

Ž. Ðurovic, Kovacevic B, (1996). "Adaptive M-filtering using pattern recognition approach", Control and Computers, Vol. 24, No. 2, pp. 60-67.

Ž. Ðurovic, Kovacevic B. (1995). "QQ-plot approach to robust Kalman filtering", Int. Journal of Control, Vol.61, pp.837-857.

B. Kovacevic, Ðurovic Ž., (1994). "An adaptive robustizying approach to Kalman filtering", Control and Computers, Vol. 22, No. 1, pp. 7-12.

B. Kovacevic, Ðurovic Ž., Glavaški S. (1992). "On robust Kalman filtering", Int. Journal of Control, Vol. 24, No 1, pp 547-562.

**Selected papers presented at international conferences**

A. Marjanović, П. Тадић, Л. Цокић, Ž. Đurović, On Possibility of Modeling the Influence of Coal Firing Process Correction on Steam Drum Outlet Temperature in Thermal Power Plant, XIII International Conference on Systems, Automatic Control and Measurements (SAUM2016), Nis, Srbija, Nov, 2016.

Milana Milošević, Željko Nedeljković, Željko Đurović, SVM Classifier for Emotional Speech Recognition in Software Environment SEBAS, IcETRAN 2016, Zlatibor, Serbia, 2016, ISBN 978-86-7466-618-0

Slobodan Drašković, Željko Đurović, Branko Kovačević, Vera Petrović, Statistics of Absolute Finite Differences: Autoregressive Model Case, IcETRAN 2016, Zlatibor, Serbia, 2016, ISBN 978-86-7466-618-0

63. Goran S. Kvascev, Zeljko M. Djurovic, Vladimir D.Vlatkovic, A Wide Pulse Response Procedure for Tuning of PD/PID Controller for Integrating Processes, 2015 International Conference on Computer and Computational Sciences (ICCCS), pp. 56-60, 27-29 January 2015, Paris, IEEE Catalog Number: CFP1567Y-PRT, ISBN: 978-1-4799-1818-8

Predrag Tadić, Sanja Vujnović, Ž. Đurović, *Improved matrix CUSUM test for recursive sequential testing of multiple hypotheses, *IcETRAN 2015, Int. Conf. on Electrical, Electronic and Computing Engineering, Srebrno jezero, Serbia, June 2015.

Sanja Antić, Željko Đurović, *Application of Sliding Integral Algorithm For Parametric Fault Detection of a DC Motor Amplifier, *IcETRAN 2015, Int. Conf. on Electrical, Electronic and Computing Engineering, Srebrno jezero, Serbia, June 2015.

Slobodan Drašković, Goran Kvaščev, Željko Đurović, Vera Petrović, Branko Kovačević, *Speech Signal Parameter Identification Using Adaptive Forgetting Factor, *IcETRAN 2015, Int. Conf. on Electrical, Electronic and Computing Engineering, Srebrno jezero, Serbia, June 2015.

Milana Milošević, Željko Đurović, *Challenges in Emotional Speech Recognition, *IcETRAN 2015, Int. Conf. on Electrical, Electronic and Computing Engineering, Srebrno jezero, Serbia, June 2015.

Predrag Tadić, Željko Đurović, Aleksandra Marjanović, Sanja Vujnović, *Fault diagnosis in nonlinear stochastic systems via particle filtering, *23rd Telecomunications forum (TELFOR), Belgrade, Serbia, ISBN: 978-1-5090-0054-8., Nov. 2015.

A. Marjanović, Ž. Đurović, B. Kovačević, "Fault detection in a three tank system based on sequential hypothesis testing", Int. Conf. SAUM 2010, Niš, Serbia, 2010.

S. Mitrovic, Z. Djurovic (2010), ''Fuzzy-Based Controller for Differential Drive Mobile Robot Obstacle Avoidance'', The 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, September 2010.

S. Stankovic, N. Ilic, Z. Djurovic, M. Stankovic, K. H. Johansson (2010), ''Consensus Based Overlapping Decentralized Fault Detection and Isolation'', Conference on Control and Fault Tolerant Systems SysTol'10, Nice, France, October 2010.

V. Todorovic, P. Tadic, Z. Djurovic (2010), ''Expert System for Fault Detection and Isolation of Coal-Shortage in Thermal Power Plants'', Conference on Control and Fault Tolerant Systems SysTol'10, Nice, France, October 2010.

P. Tadic, Z. Djurovic, G. Kvascev, V. Papic (2010), ''Coal-shortage detection in power plants by means of fixed size sample strategy'', IFAC Conf. on Control Methodologies & Tech. for Enegry-Efficency, Vilamoura, Portugal, March 2010.

V. Papic, Z. Djurovic, G. Kvascev, P. Tadic (2010), ''On signal-to-noise ratio estimation'', The 15th IEEE Mediterranean Electrotechnical Conference MELECON 2010, Valleta, Malta, April 2010.

V. Papic, R. Puche-Panadero, P. Todorov, Z. Djurovic (2010), ''A new approach for classification of calorific coal properties in boiler systems'', The 15th IEEE Mediterranean Electrotechnical Conference MELECON 2010, Valleta, Malta, April 2010.

P. Tadic, M. Stankovic, S. Stankovic, Z. Djurovic (2009), ''Consensus based decentralized estimation applited to fault detection and isolation'', DECOM TI 2009- 6th IFAC Int. Workshop on knowledge and technology transfer in developing countries, Ohrid, Sept. 2009.

G. Kvascev, Z. Djurovic, V. Papic (2009), ''One approach to fault detection in steam temperature control system'', DECOM TI 2009- 6th IFAC Int. Workshop on knowledge and technology transfer in developing countries, Ohrid, Sept. 2009.

Z. Ðurovic, I. Kovacevic, B. Kovacevic (2008), ''A new approach to robustified adaptive estimation of channels parameters'', 12th WSEAS Int. Conf. on Systems, Greece, July 22-24, 2008.

V. Papic, Ž. Ðurovic, B. Kovacevic (2006), 'OCR Based on ARG Matching Algorithm', World Congress on Intelligent Control and Applications WCICA 2006, Jun 2006, Dalian, China, Proc. pp. 10445-10449.

Igor Jovandic, Željko Ðurovic, B. Kovacevic (2006), 'Pose estimation of moving objects from video sequences based on the unscented transformation', World Congress on Intelligent Control and Application WCICA 2006, Jun 2006, Dalian, China, Proc.pp. 9277-9281.

I. Kovacevic, B. Kovacevic, Ž. Ðurovic, (2006), ''A Convergence Theorem for a Class of Stochastic Type Algorithms with Application to Robust System Identification '', WSEAC CSCC Conference, Athens, Greece, Jully 2006.

S. Stevovic, Ž. Ðurovic (2006), ''Environmental Impacts on HydroPower Solution Selection'', Proceedings of IEEE Int. Symp. on Electronics and Environment, pp. 360, San Francisco, USA, May, 2006.

M. Andric, Ž. Ðurovic, B. Zrnic (2005), 'Ground Surveillance Radar Target Classification Based on Fuzzy Logic Approach', EUROCON 2005, November 21-24, Belgrade, Serbia and Montenegro, Proc. pp. 1390-1392.

M. Blagojevic, Ž. Ðurovic, B. Kovacevic (2005), 'One Approach to Statistical Speech Recognition', EUROCON 2005, November 21-24, Belgrade, Serbia and Montenegro, Proc. pp. 1401-1404.

Ž. Ðurovic, B. Kovacevic (2004), 'HVAC Car Unit Control Based on Neural Networks', 7'th Seminar on Neural Networks, NEUREL 2004, September 23-25, 2004, Belgrade.

V. Papic, Kovacevic B., Djurovic Ž (2001), " On signal to noise ratio in adaptive Doppler filters, Int. Conf. TELSIKS, Yugoslavia, Niš, Oct. 2001.

Ž. Ðurovic, Miškovic Lj., Kovacevic B. (2000), " Simulation of air turbulence signal and its application", Proc. 10-th Mediterranean Electrotechnical Conf. , MELECON 2000, Larnaka, Cyprus.

Ž. Ðurovic, Kovacevic B., Barroso V. (2000), " QQ-plot based probability density function estimation", Proc. 10-th Workshop Stat. Sig. and Array Proc., Pocono Mannor, Pennsylvania, USA, August 2000.

Ž. Ðjurovic, Kovacevic B., Turajlic S. (2000), "An analysis of a class of PD and PID fuzzy controllers", Proc. 4-th Portuguese Conf. Autom. Cont., Guimaraes, Portugal, October 2000.

Ž. Ðurovic, Barroso V. (2000), "Tiles classification based on pattern recognition", 5th Iberoamerican Symp. on Pat. Rec., Lisbon, Portugal, Sept. 2000.

LJ. Miškovic. , Ðurovic Ž., Papic V. ,Kovacevic B. (1999), "An Approach to Nonlinear System Control Using MSEV Strategy" , IMACS/IEEE Conf. Circ. Syst. Communic.Comput. CSCC'99, Athens, Greece .

V. Papic, Ðurovic Ž.,Miškovic Lj.,Kovacevic B.(1999),'' An Adaptive Doppler Filter '', IMACS/IEEE Conf. Circ. Syst. Communic.Comput. CSCC'99, Athens, Greece .

V. Papic V.,Ðurovic Ž.,Miškovic Lj.,Kovacevic B.(1999),'' Velocity Tracking Based on Adaptive Doppler Filter '', Int. Conf. TELSIKS'99, Yugoslavia, Niš, Oct. 1999.

Ž. Ðurovic, Kovacevic B.(1998),"An adaptive filtering using neural networks approach", IEEE Conf. Electrotec. MELECON'98, Tel Aviv, Israel.

Z. Banjac, Kovacevic B., Ðurovic Ž., Milosavljevic M. (1998)," A class of algorithms for local echo cancellation using optimal inputs design", IEEE Conf. Electrotec. MELECON'98, Tel Aviv, Israel.

Ž. Ðurovic, Kovacevic B. (1997) "Robust recursive time series modelling using ARX models with optimal exogenous inputs", IEEE Conf. Dig. Sign. Proc. DSP'97, Santorini, Greece.

Ž. Ðurovic, Kovacevic B. (1996). "An adaptive non-Gaussian filtering using pattern recognition approach", 3rd IEEE Conf. Elec. Circ. Syst., Rodos, Greece.

B. Kovacevic, Ðurovic Ž. (1996). "Robust AR nonstationary time-series analysis", Int. Conf. Sig. Imag. Proc., Annecy, France.

Ž. Ðurovic, Kovacevic B. (1996). "Adaptive M-filtering using pattern recognition approach", Int. Conf. Sig. Imag. Proc., Annecy, France.

B. Kovacevic, Ðurovic Ž., Filipovic V. (1996). "Robust system identification using optimal input signals design", AMSE Int. Conf. Communic. Sig. Syst., Brno, Czech Republic.

Ž. Ðurovic, Kovacevic B. (1995). "Robust Adaptive Kalman Filtering Using QQ-plot Aproach", IEEE Workshop on Nonlinear Signal and Image Processing, Neos Marmaras, Greece.

Ž. Ðurovic, Kovacevic B. (1995). "M-robust Approach for Adaptive Kalman Filtering", 3rd European Control Conference, Roma, Italy.

Ž. Ðurovic, Kovacevic B. (1995). "An expert system for adaptive state estimation", 12th Int. Conf. Systems Sci., Wroclaw, Poland.

Ž. Ðurovic, Kovacevic B. (1990). "A pattern recognition approach to linear dynamic system identification", Int. Conf. Signal Processing and Digital Filtering, Lugano, Switzerland.

Ž. Ðurovic, Kovacevic B. (1989). "A pattern recognition approach to visualization", X Int. Symp. Computers on University, Cavtat.