2026

• Høeg, Sigmund Hennum; Egeland, Olav; Holden, Christian. (2026) Improving Generative Diffusion Models for Robotic Imitation Learning. Norges teknisk-naturvitenskapelige universitet
  Doctoral thesis

2025

• Karacelik, Asli; Holden, Christian. (2025) Development of a simple mathematical model and an optimization method for gas lift experimental studies. Chemical engineering research & design
  Academic article
• Kaya, Ozan; Thieu, Kevin; Holden, Christian; Egeland, Olav. (2025) Deep Learning-Based Trajectory Planning for Reflective Workpiece Alignment in Robotic Welding. IFAC-PapersOnLine
  Academic article

2024

• Anunciacao Jaculli, Marcelo; Viswanathan, Savin; Holden, Christian; Leira, Bernt Johan; Sangesland, Sigbjørn. (2024) Numerical Modeling of a Motion-Neutralized Floater Concept for Maritime Operations.
  Academic chapter
• Ohrem, Sveinung Johan; Haugaløkken, Bent Oddvar Arnesen; Holden, Christian. (2024) Application of modified Model Reference Adaptive Controller and Observer (MRACO) for speed control of an unmanned underwater vehicle. IFAC-PapersOnLine
  Academic article

2023

• Tengesdal, Njål Kjærnes; Fotland, Gaute; Holden, Christian; Haugen, Bjørn. (2023) Modeling of drill string dynamics in directional wells for real-time simulation. Simulation
  Academic article
• Viswanathan, Savin; Holden, Christian; Egeland, Olav; Sten, Ronny. (2023) Cosimulation of a direct-acting riser-tensioner system – validation with field measurements and sample simulations. Ocean Engineering
  Academic article

2022

• Kulangarakalam Gayathrivallabh, Mishiga Vallabhan; Dudek, Marcin; Holden, Christian. (2022) Experimental Test Setup for Deoiling Hydrocyclones Using Conventional Pressure Drop Ratio Control. SPE Production & Operations
  Academic article
• Viswanathan, Savin; Holden, Christian; Egeland, Olav; Sten, Ronny. (2022) A Co-simulation Methodology for Risers Tensioned with Direct Acting Tensioners. International Journal of Mechanical Engineering and Robotics Research (IJMERR)
  Academic article
• Ohrem, Sveinung Johan; Amundsen, Herman Biørn; Caharija, Walter; Holden, Christian. (2022) Robust adaptive backstepping DP control of ROVs. Control Engineering Practice
  Academic article
• Kulangarakalam Gayathrivallabh, Mishiga Vallabhan; Holden, Christian; Skogestad, Sigurd. (2022) Deoiling Hydrocyclones: An Experimental Study of Novel Control Schemes. SPE Production & Operations
  Academic article

2021

• Kulangarakalam Gayathrivallabh, Mishiga Vallabhan; Assumpcao Matias, Jose Otavio; Holden, Christian. (2021) Feedforward, Cascade and Model Predictive Control Algorithms for De-Oiling Hydrocyclones: Simulation Study. MIC Journal: Modeling, Identification and Control
  Academic article
• Tengesdal, Njål Kjærnes; Hovda, Sigve; Holden, Christian. (2021) A discussion on the decoupling assumption of axial and torsional dynamics in bit-rock models. Journal of Petroleum Science and Engineering
  Academic article
• Viswanathan, Savin; Holden, Christian; Egeland, Olav; Greco, Marilena. (2021) An Open-Source Python-Based Boundary-Element Method Code for the Three-Dimensional, Zero-Froude, Infinite-Depth, Water-Wave Diffraction-Radiation Problem. MIC Journal: Modeling, Identification and Control
  Academic article
• Ohrem, Sveinung Johan; Holden, Christian. (2021) Adaptive Controller and Observer Design Using Open and Closed-Loop Reference Models for Linear Time-Invariant Systems with Unknown Dynamics. IEEE Transactions on Automatic Control
  Academic article
• Tengesdal, Njål Kjærnes; Holden, Christian; Pedersen, Eilif. (2021) Component-Based Modeling and Simulation of Nonlinear Drill-String Dynamics. Journal of Offshore Mechanics and Arctic Engineering
  Academic article
• Viswanathan, Savin; P.K, Satheesh Babu; Holden, Christian; Egeland, Olav. (2021) A co-simulation methodology for offshore load handling.
  Academic chapter
• Kristoffersen, Torstein Thode; Holden, Christian. (2021) Modeling and Control of a Wet-Gas Centrifugal Compressor. IEEE Transactions on Control Systems Technology
  Academic article

2020

• Kulangarakalam Gayathrivallabh, Mishiga Vallabhan; Holden, Christian; Skogestad, Sigurd. (2020) A First-Principles Approach for Control-Oriented Modeling of De-oiling Hydrocyclones. Industrial & Engineering Chemistry Research
  Academic article
• Viswanathan, Savin; Holden, Christian. (2020) Dynamic Simulation of a Mooring Catenary Based on the Lumped-Mass Approach: OpenModelica and Python Implementations.
  Academic chapter
• Kulangarakalam Gayathrivallabh, Mishiga Vallabhan; Holden, Christian. (2020) Non-linear control algorithms for de-oiling hydrocyclones.
  Academic chapter
• Viswanathan, Savin; Holden, Christian. (2020) Modelica Component Models for Oceanic Surface Waves and Depth Varying Current.
  Academic chapter
• Viswanathan, Savin; Holden, Christian. (2020) Modelica Component Models for Non-diffracting Floating Objects and Quasi-static Catenary Moorings.
  Academic chapter
• Tengesdal, Njål Kjærnes; Holden, Christian. (2020) Identification and Optimal Control for Surge and Swab Pressure Reduction While Performing Offshore Drilling Operations. MIC Journal: Modeling, Identification and Control
  Academic article
• Viswanathan, Savin; Holden, Christian. (2020) Simulating the Dynamics of a Suspended Sub-sea Load Using Modified Components from the Modelica MultiBody Library.
  Academic chapter

2019

• Ohrem, Sveinung Johan; Kim, Hyungju; Lundteigen, Mary Ann; Holden, Christian. (2019) A Comparison of Hazards and Efficiencies of Conventional and Adaptive Control Algorithms Using Systems-Theoretic Process Analysis. MATEC Web of Conferences
  Academic article
• Kristoffersen, Torstein Thode; Holden, Christian. (2019) A High-Gain Observer for a Wet Gas Centrifugal Compressor. IFAC-PapersOnLine
  Academic article
• Ohrem, Sveinung Johan; Skjefstad, Håvard Slettahjell; Stanko, Milan; Holden, Christian. (2019) Controller Design and Control Structure Analysis for a Novel Oil–Water Multi-Pipe Separator. Processes
  Academic article
• Kulangarakalam Gayathrivallabh, Mishiga Vallabhan; Kristoffersen, Torstein Thode; Holden, Christian. (2019) EKF and UKF for estimating the liquid level inside gas-liquid cylindrical cyclone. Proceedings of the Third International Conference on Inventive Systems and Control (ICISC 2019)
  Anthology
• Tengesdal, Njål Kjærnes; Holden, Christian; Pedersen, Eilif. (2019) Component-Based Modeling and Simulation of Nonlinear Drill-String Dynamics.
  Academic chapter
• Viswanathan, Savin; Holden, Christian. (2019) Towards the Development of an Ocean Engineering Library for OpenModelica.
  Academic chapter

2018

• Ohrem, Sveinung Johan; Holden, Christian. (2018) Controller and observer design for first order LTI systems with unknown dynamics.
  Academic chapter
• Ohrem, Sveinung Johan; Kristoffersen, Torstein Thode; Holden, Christian. (2018) Model-Based and Model-Free Optimal Control of a Gas Liquid Cylindrical Cyclone. IFAC-PapersOnLine
  Academic article
• Kim, HyungJu; Lundteigen, Mary Ann; Hafver, Andreas; Pedersen, Frank Børre; Skofteland, Gunleiv; Holden, Christian; Ohrem, Sveinung Johan. (2018) Application of Systems-Theoretic Process Analysis to a Subsea Gas Compression System.
  Academic chapter
• Kristoffersen, Torstein Thode; Holden, Christian. (2018) Modelling and Nonlinear Control of a Wet Gas Centrifugal Compressor.
  Academic chapter
• Kristoffersen, Torstein Thode; Holden, Christian. (2018) Nonlinear state and parameter estimation of a gas-liquid cylindrical cyclone.
  Academic chapter
• Kristoffersen, Torstein Thode; Holden, Christian. (2018) State and Parameter Estimation for a Gas-Liquid Cylindrical Cyclone.
  Academic chapter
• Tengesdal, Njål; Kristoffersen, Torstein Thode; Holden, Christian. (2018) Applied Nonlinear Compressor Control with Gain Scheduling and State Estimation. IFAC-PapersOnLine
  Academic article

2017

• Kristoffersen, Torstein Thode; Holden, Christian. (2017) Nonlinear model predicitve control of a gas-liquid cylindrical cyclone.
  Academic chapter
• Kristoffersen, Torstein Thode; Holden, Christian; Skogestad, Sigurd; Egeland, Olav. (2017) Control-Oriented Modelling of Gas-Liquid Cylindrical Cyclones. American Control Conference (ACC)
  Academic article
• Kristoffersen, Torstein Thode; Holden, Christian. (2017) Model predictive control and extended Kalman filter for a gas-liquid cylindrical cyclone.
  Academic chapter
• Ohrem, Sveinung Johan; Holden, Christian. (2017) Modeling and nonlinear model predictive control of a subsea pump station. IFAC-PapersOnLine
  Academic article
• Ohrem, Sveinung Johan; Kristoffersen, Torstein Thode; Holden, Christian. (2017) Adaptive feedback linearizing control of a gas liquid cylindrical cyclone.
  Academic chapter
• Kristoffersen, Torstein Thode; Holden, Christian; Egeland, Olav. (2017) Feedback Linearizing Control of a Gas-Liquid Cylindrical Cyclone. IFAC-PapersOnLine
  Academic article
• Ohrem, Sveinung Johan; Holden, Christian; Jahanshahi, Esmaeil; Skogestad, Sigurd. (2017) ℒ1 adaptive anti-slug control. American Control Conference (ACC)
  Academic article

2014

• Holden, Christian; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) Optimal Dynamic Force Mapping for Obstacle-Aided Locomotion in 2D Snake Robots. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  Academic article

2013

• Holden, Christian; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Optimal Mapping from a Continuous 3D Curve to the Position and Shape of a Snake Robot.
  Academic chapter
• Holden, Christian; Stavdahl, Øyvind. (2013) Optimal Static Propulsive Force for Obstacle-Aided Locomotion in Snake Robots.
  Academic chapter

2012

• Holden, Christian; Breu, Dominik Andreas; Fossen, Thor I.. (2012) Frequency Detuning Control by Doppler Shift.
  Academic chapter
• Holden, Christian; Fossen, Thor I.. (2012) A Nonlinear 7-DOF Model for U-Tanks of Arbitrary Shape. Ocean Engineering
  Academic article
• Breu, Dominik Andreas; Holden, Christian; Fossen, Thor I.. (2012) Ship Model for Parametric Roll Incorporating the Effects of Time-Varying Speed.
  Academic chapter
• Breu, Dominik Andreas; Holden, Christian; Fossen, Thor I.. (2012) Stability of Ships in Parametric Roll Resonance Under Time-Varying Heading and Speed.
  Academic chapter
• Holden, Christian; Fossen, Thor I.. (2012) A U-Tank Control System for Ships in Parametric Roll Resonance.
  Academic chapter

2011

• Holden, Christian; Perez, Tristan; Fossen, Thor I.. (2011) A Langrangian Approach to Nonlinear Modeling og Anti-Roll Tanks. Ocean Engineering
  Academic article
• Holden, Christian. (2011) Modeling and Control of Parametric Roll Resonance. Doktoravhandlinger ved NTNU
  Academic article
• Holden, Christian; Fossen, Thor I.. (2011) Modeling and Control of Parametric Roll Resonance. Norges teknisk-naturvitenskapelige universitet
  Doctoral thesis

2009

• Holden, Christian; Galeazzi, Roberto; Fossen, Thor I.; Perez, Tristan. (2009) Stabilization of parametric roll resonance with active u-tanks via Lyapunov control design.
  Academic chapter
• Galeazzi, Roberto; Holden, Christian; Blanke, Mogens; Fossen, Thor I.. (2009) Stabilization of Parametric Roll Resonance by Combined Speed and Fin Stabilizer Control.
  Academic chapter

2008

• Holden, Christian; Pettersen, Kristin Ytterstad. (2008) Global Uniform Asymptotic Lyapunov Stabilization of a Vectorial Chained-Form System with a Smooth Time-Varying Control Law. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Academic article

2007

• Holden, Christian; Galeazzi, Roberto; Rodriguez, C; Perez, Tristan; Fossen, Thor I.; Blanke, Mogens; Neves, Marcelo A.S.. (2007) Nonlinear Container Ship Model for the Study of Parametric Roll Resonance. MIC Journal: Modeling, Identification and Control
  Academic article
• Holden, Christian; Pettersen, Kristin Ytterstad. (2007) Robust Globally Exponentially Stabilizing Control Law for Fully Actuated 6-DOF AUVs. Elsevier IFAC Publications / IFAC Proceedings series
  Academic article
• Holden, Christian; Perez, Tristan; Fossen, Thor Inge. (2007) Frequency-Motivated Observer Design for the Prediction of Parametric Roll Resonance. Elsevier IFAC Publications / IFAC Proceedings series
  Academic article

2005

• Rossing, Nils Kristian; Ystenes, Martin; Kjærvik, Atle; Stenvig, Bård Inge; Holden, Christian; Holden, Cathrine. (2005) Kjøkkenkjemi - en samling enkle kjemieksperimenter. Vitensenteret
  Popular science monograph