Professor William Heath

Head of School of Computer Science and Engineering

w.heath@bangor.ac.uk

Professor William Heath

My research is focused on feedback control theory and its applications. A recurrent theme has been to balance the simplicity and insight of classical control with the power and potential of digital control implementation to address nonlinear control problems. The focus is systems with actuator nonlinearities such as , rate constraints, and hysteresis.

I am interested in multiplier theory within the framework of absolute stability theory. Recent highlights include new frequency domain characterisations of both the O'Shea-Zames-Falb multipliers and their counterparts. I apply these techniques to model predictive control and antiwindup. 

School of Computer Science and Engineering

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Dean Street

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Gwynedd

LL57 1UT

email: w.heath@bangor.ac.uk

2025

  • E-pub ahead of print
    Carrasco, J., Heath, W. & Seiler, P., 28 Mar 2025, (E-pub ahead of print) Encyclopedia of Systems and Control Engineering. Elsevier
    Research output: Chapter in Book/Report/Conference proceeding › Entry for encyclopedia/dictionary › peer-review
  • Published
    Heath, W. & Carrasco, J., Mar 2025, In: IEEE Transactions on Automatic Control. 70, 3, p. 2051-2058 8 p.
    Research output: Contribution to journal › Article › peer-review

2024

  • Published
    Heath, W. P., Carrasco, J. & Zhang, J., 1 Jan 2024, In: IEEE Transactions on Automatic Control. 69, 1, p. 566–573
    Research output: Contribution to journal › Article › peer-review

2022

  • Published
    Zhang, J., Carrasco, J. & Heath, W. P., 1 Jul 2022, In: IEEE Transactions on Automatic Control. 67, 7, p. 3521-3528 8 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Heath, W. P., Carrasco, J. & Altshuller, D. A., 1 Feb 2022, In: IEEE Transactions on Automatic Control. 67, 2, p. 910-917 8 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Wang, X., Liu, Z., Zhang, L. & Heath, W. P., 1 Dec 2022, In: IEEE Transactions on Industrial Electronics. 69, 12, p. 13597–13606
    Research output: Contribution to journal › Article › peer-review

2021

  • Published
    Carrasco, J. & Heath, W. P., 11 Nov 2021, Wiley Encyclopedia of Electrical and Electronics Engineering.
    Research output: Chapter in Book/Report/Conference proceeding › Entry for encyclopedia/dictionary › peer-review
  • Published
    Poupard, E., Heath, W. & Güttel, S., 1 Nov 2021, In: Automatica. 113, 13 p., 109833.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Petsagkourakis, P., Heath, W. P., Carrasco, J. & Theodoropoulos, C., 1 Apr 2021, In: IEEE Transactions on Automatic Control. 66, 4, p. 1879-1886 8 p.
    Research output: Contribution to journal › Article › peer-review

2020

  • Published
    Carrasco, J., Heath, W. P., Zhang, J., Ahmad, N. S. & Wang, S., 1 Nov 2020, In: IEEE Transactions on Automatic Control. 65, 11, p. 4538-4553 16 p.
    Research output: Contribution to journal › Article › peer-review
  • E-pub ahead of print
    Mirza-Hekmati, D., Heath, W., Apsley, J. & Forbes, J., 1 Dec 2020, (E-pub ahead of print) In: International Journal of Engine Research. 23, 1, p. 78-89 12 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Elstone, L., How, K. Y., Brodie, S., Ghazali, M. Z., Heath, W. P. & Grieve, B., 14 Jan 2020, In: Sensors. 20, 2
    Research output: Contribution to journal › Article › peer-review

2018

  • Published
    Zhang, J., Tugal, H., Carrasco, J. & Heath, W. P., 1 Jul 2018, In: IEEE Control Systems Letters. 2, 3, p. 411-416 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Wang, S., Carrasco, J. & Heath, W. P., 1 Apr 2018, In: IEEE Transactions on Automatic Control. 63, 4, p. 947-959 13 p.
    Research output: Contribution to journal › Article › peer-review

2016

  • Published
    Gayadeen, S. & Heath, W., 23 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 42, 11, p. 542-547 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Morales, R. M., Li, G. & Heath, W. P., 25 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 41, 2, p. 14144-14149
    Research output: Contribution to journal › Article › peer-review
  • Published
    Zou, Y. & Heath, W. P., 21 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 42, 10, p. 1110-1115 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Carrasco, J., Heath, W. P., Liñan, M. C. R., Alli-Oke, R., Kerim, O. A. R. A. & Gutierrez, S. R., 21 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 10, 17, p. 238-243 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Heath, W. P. & Li, G., 25 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 41, 2, p. 15160-15165
    Research output: Contribution to journal › Article › peer-review
  • Published
    Ahmad, N. S., Heath, W. P. & Li, G., 25 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 44, 1, p. 3392-3397 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Adegbege, A. A. & Heath, W. P., 21 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 7, PART 1, p. 282-287 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Vivero, O. & Heath, W. P., 21 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 45, 16, p. 298-303 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Li, G., Heath, W. P. & Herrmann, G., 25 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 44, 1, p. 14477-14482 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Heath, W. P. & Wills, A. G., 16 May 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 38, 1, p. 71-76 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Heath, W. P., Li, G., Wills, A. G. & Lennox, B., 21 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 39, 9, p. 495-500 6 p.
    Research output: Contribution to journal › Article › peer-review

2015

  • Published
    Li, G., Heath, W. P. & Lennox, B., 1 Jan 2015, In: Automatica. 51, p. 4483-4488 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Kara-Mohamed, M., Heath, W. P. & Lanzon, A., 1 May 2015, In: IEEE Transactions on Control Systems Technology. 23, 3, p. 1003-1013 11 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Adegbege, A. A. & Heath, W. P., 5 Feb 2015, p. 1033-1039. 7 p.
    Research output: Contribution to conference › Paper › peer-review

2014

  • Published
    Morales, R. M., Li, G. & Heath, W. P., 25 Nov 2014, In: International Journal of Robust and Nonlinear Control. 24, 17, p. 2640-2652 13 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Heath, W. P. & Wills, A. G., 1 Jan 2014, In: European Journal of Control. 10, 1, p. 15-27 13 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Mohamed, M. K., Heath, W. P. & Lanzon, A., 2014, In: 2014 European Control Conference, ECC 2014. p. 1939-1944 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Carrasco, J., Maya-Gonzalez, M., Lanzon, A. & Heath, W. P., 1 Aug 2014, In: Systems and Control Letters. 70, p. 17-22 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Ahmad, N. S., Carrasco, J. & Heath, W. P., 10 Mar 2014, p. 5258-5263. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Carrasco, J., Heath, W. P. & Lanzon, A., 1 Apr 2014, In: Systems and Control Letters. 66, 1, p. 65-71 7 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    King-Hans, A. R., Heath, W. P. & Alli-Oke, R., 11 Dec 2014, p. 1681-1686. 6 p.
    Research output: Contribution to conference › Paper › peer-review

2013

  • Published
    Del Carmen Rodriguez Linan, M. & Heath, W. P., 7 Jan 2013, p. 1394-1399. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Syazreen Ahmad, N. & Heath, W. P., 2013, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 46, 23, p. 546-551 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Gayadeen, S., Duncan, S. R. & Heath, W. P., 15 Aug 2013, In: Proceedings of the American Control Conference. p. 1201-1206 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Heath, W. P., Onel, O., Green, P. M., Lennox, B., Gai, Z., He, Z. & Rodriguez Liñan, M. C., 2013, In: International Journal of Electrical Engineering Education. 50, 3, p. 268-278 11 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Carrasco, J., Heath, W. P. & Lanzon, A., 1 Jun 2013, In: Automatica. 49, 6, p. 1732-1740 9 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Carrasco, J., Heath, W. P. & Lanzon, A., 13 Feb 2013, p. 2262-2267. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Ahmad, N. S., Heath, W. P. & Li, G., 1 Feb 2013, In: IEEE Transactions on Automatic Control. 58, 2, p. 459-465 7 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Carrasco, J., Maya-Gonzalez, M., Lanzon, A. & Heath, W. P., 4 Feb 2013, p. 7770-7775. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Carrasco, J., Heath, W. P. & Lanzon, A., Jul 2013, 2013 European Control Conference (ECC). IEEE, p. 1711-1716 6 p.
    Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
  • Published
    Ahmad, N. S., Carrasco, J. & Heath, W. P., 4 Feb 2013, p. 2268-2273. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Heath, W. P., Onel, O., Green, P. M., Lennox, B., Gai, Z., He, Z. & Liñan, M. C. R., 13 Sept 2013, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 46, 17, p. 232-237 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Carrasco, J., Heath, W. P., Rodriguez Liñan, M. C., Alli-Oke, R., Abdel Kerim, O. A. R. & Rodriguez Gutierrez, S., Jul 2013, In: International Journal of Electrical Engineering Education. 50, 3, p. 279-292 14 p.
    Research output: Contribution to journal › Article › peer-review

2012

  • Published
    Adegbege, A. A. & Heath, W. P., 1 Mar 2012, p. 5503-5508. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Vivero, O. & Heath, W. P., 1 Feb 2012, In: Automatica. 48, 2, p. 287-296 10 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Alli-Oke, R., Carrasco, J., Heath, W. P. & Lanzon, A., 24 Jun 2012, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 45, 13, p. 27-32 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Carrasco, J., Heath, W. P., Li, G. & Lanzon, A., 1 Sept 2012, In: IEEE Transactions on Automatic Control. 57, 9, p. 2422-2428 7 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Carrasco, J., Heath, W. P. & Lanzon, A., 1 May 2012, In: Automatica. 48, 5, p. 909-916 8 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Carrasco, J., Heath, W. P. & Lanzon, A., 1 Mar 2012, p. 6054-6059. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Zou, Y. & Heath, W. P., May 2012, In: International Journal of Control. 85, 5, p. 475-490 16 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Del Carmen Rodriguez Linan, M. & Heath, W. P., 2012, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 45, 17, p. 418-423 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Adegbege, A. A. & Heath, W. P., 24 Jun 2012, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 45, 13, p. 276-281 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Morales, R. M., Heath, W. P. & Li, G., 1 Mar 2012, p. 639-644. 6 p.
    Research output: Contribution to conference › Paper › peer-review

2011

  • Published
    Adegbege, A. A. & Heath, W. P., 31 Dec 2011, In: AIChE Journal. 57, 12, p. 3459-3472 14 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Ahmad, N. S., Heath, W. P. & Li, G., 22 Feb 2011. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Vivero, O. & Heath, W. P., 22 Feb 2011, p. 5025-5030. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Heath, W. P., Morales, R. & Li, G., 13 Oct 2011, p. 204-209. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Heath, W. P. & Gayadeen, S., 1 Jan 2011, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 44, 1, p. 11356-11361 6 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Adegbege, A. A. & Heath, W. P., 22 Feb 2011, p. 5251-5256. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Morales, R. M. & Heath, W. P., 4 Feb 2011, In: IEEE Transactions on Control Systems Technology. 19, 6, p. 1421-1432 12 p.
    Research output: Contribution to journal › Article › peer-review

2010

  • Published
    Heath, W. P. & Li, G., 30 Mar 2010, In: Automatica. 46, 3, p. 562-568 7 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Vivero, O. & Heath, W. P., 29 Jan 2010, p. 1842-1847. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Zou, Y. & Heath, W. P., 29 Jan 2010, p. 5108-5113. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Adegbege, A. A. & Heath, W. P., 30 Sept 2010, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 43, 5, p. 290-295 6 p.
    Research output: Contribution to journal › Article › peer-review

2009

  • Published
    Heath, W. P. & Li, G., 1 Dec 2009, In: Automatica. 45, 12, p. 2977-2981 5 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Morales, R. M., Heath, W. P. & Li, G., 13 Nov 2009, p. 3329-3334. 6 p.
    Research output: Contribution to conference › Paper › peer-review

2008

  • Published
    Li, G., Heath, W. P. & Lennox, B., 1 Jul 2008, In: IET Control Theory and Applications. 2, 7, p. 554-563 10 p.
    Research output: Contribution to journal › Article › peer-review

2007

  • Published
    Wills, A. G. & Heath, W. P., 2007, Lecture Notes in Control and Information Sciences. 1 ed. Springer, Vol. 358. p. 207-216 10 p. (Lecture Notes in Control and Information Sciences).
    Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review
  • Published
    Heath, W. P. & Wellstead, P. E., 22 Oct 2007, In: International Journal of Control. 62, 2, p. 239-269 31 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Li, G., Heath, W. P. & Lennox, B., 7 May 2007, p. 4247-4252. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Heath, W. P. & Wills, A. G., 15 Oct 2007, In: IEEE Transactions on Automatic Control. 52, 10, p. 1948-1951 4 p.
    Research output: Contribution to journal › Article › peer-review

2006

  • Published
    Morales, R. M. & Heath, W. P., 31 Dec 2006, p. 6199-6204. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Heath, W. P. & Wills, A. G., 30 Jan 2006, p. 963-968. 6 p.
    Research output: Contribution to conference › Paper › peer-review

2005

  • Published
    Wills, A. G. & Heath, W. P., 1 Mar 2005, In: Journal of Process Control. 15, 2, p. 183-200 18 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Heath, W. P., Wills, A. G. & Akkermans, J. A. G., 1 Aug 2005, In: International Journal of Robust and Nonlinear Control. 15, 12, p. 515-529 15 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Heath, W. P., 16 May 2005, p. 833-838. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Dodds, S. A. & Heath, W. P., 28 Mar 2005, In: Chemometrics and Intelligent Laboratory Systems. 76, 1, p. 37-43 7 p.
    Research output: Contribution to journal › Article › peer-review

2004

  • Published
    Wills, A. G. & Heath, W. P., 15 Mar 2004, p. 3701-3705. 5 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Wills, A. G. & Heath, W. P., 1 Aug 2004, In: Automatica. 40, 8, p. 1415-1422 8 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Akkermans, J. A. G., Wills, A. G. & Heath, W. P., 2 Mar 2004, In: Control Systems, Preprints, Conference. p. 63-70 8 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Heath, W. P., 15 Mar 2004, p. 6027-6032. 9 p.
    Research output: Contribution to conference › Paper › peer-review

2003

  • Published
    Heath, W. P., 1 Nov 2003, In: Automatica. 39, 11, p. 1849-1863 15 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Heath, W. P., 10 Mar 2003, p. 2627-2632. 6 p.
    Research output: Contribution to conference › Paper › peer-review

2002

  • Published
    Wills, A. G. & Heath, W. P., 1 Sept 2002, In: IEE Proceedings: Control Theory and Applications. 149, 5, p. 433-440 8 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Duncan, S. R., Heath, W. P., Halouskova, A. & Karny, M., 6 Aug 2002, p. 1278-1283. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Wills, A. G. & Heath, W. P., 7 Nov 2002, p. 4177-4182. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Heath, W. P., 6 Aug 2002, p. 3930-3935. 6 p.
    Research output: Contribution to conference › Paper › peer-review
  • Published
    Moheimani, S. O. R. & Heath, W. P., 1 Jan 2002, In: Automatica. 38, 1, p. 147-155 9 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Moheimani, S. O. R. & Heath, W. P., 6 Aug 2002, p. 3768-3772. 5 p.
    Research output: Contribution to conference › Paper › peer-review

2001

  • Published
    Heath, W. P., 1 Oct 2001, In: Automatica. 37, 10, p. 1529-1540 12 p.
    Research output: Contribution to journal › Article › peer-review

2000

  • Published
    Duncan, S. R., Allwood, J. M., Heath, W. P. & Corscadden, K. W., 1 Jul 2000, In: IEEE Transactions on Control Systems Technology. 8, 4, p. 667-675 9 p.
    Research output: Contribution to journal › Article › peer-review

1998

  • Published
    Wellstead, P. E., Heath, W. P. & Kjaer, A. P., 1 Mar 1998, In: Control Engineering Practice. 6, 3, p. 321-331 11 p.
    Research output: Contribution to journal › Article › peer-review

1997

  • Published
    Kjaer, A. P., Wellstead, P. E. & Heath, W. P., 1 Nov 1997, In: IEEE Transactions on Control Systems Technology. 5, 6, p. 571-585 15 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Wellstead, P. E., Zarrop, M. B., Heath, W. P., Kjaer, A. P. & Troyas, X., 1 Sept 1997, In: Pulp and Paper Canada. 98, 9, p. 72-76 5 p.
    Research output: Contribution to journal › Article › peer-review

1996

  • Published
    Scotson, P. G. & Heath, W. P., 1 Feb 1996, In: SAE Technical Papers.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Heath, W. P., 1 Feb 1996, In: Automatica. 32, 2, p. 183-198 16 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Wellstead, P. E., Zarrop, M. B., Heath, W. P., Kjaer, A. P. & Troyas, X., 1996, In: Control Systems, Preprints, Conference. p. 5-8 4 p.
    Research output: Contribution to journal › Article › peer-review

1995

  • Published
    Kjaer, A. P., Heath, W. P. & Wellstead, P. E., 1 Jan 1995, In: Control Engineering Practice. 3, 1, p. 21-29 9 p.
    Research output: Contribution to journal › Article › peer-review
  • Published
    Heath, W. P. & Wellstead, P. E., Jan 1995, In: International Journal of Control. 62, 1, p. 65-107 43 p.
    Research output: Contribution to journal › Article › peer-review

1994

  • Published
    Wellstead, P. E. & Heath, W. P., Feb 1994, In: Pulp and Paper Canada. 95, 2, p. 48-51 3 p.
    Research output: Contribution to journal › Article › peer-review