Now

Last updated: September 2026

• Working on model predictive control and whole-body control for a quadrupedal robot platform at Fasta Robotics.
• Working on Cascaded ESO Active Disturbance Rejection control (ADRC) on theory and implementation side
• Teaching Simulation in Control Lab at Sharif University of Technology.
• Keeping this site’s notes alive: control theory, estimation, robotics, and the math connecting them.

Also: chess.

---

What is a “now” page? A commitment to describe what you’re doing today, instead of what you did years ago. See nownownow.com.