Jalal hajipour machiani received the BSc. degree in control electric engineering from Sharif University of technology, Tehran, Iran, in 2012 and currently is a student of MSc. degree in mechatronics at the University of Tehran. His Bachelor thesis was entitled "HVAC control via supervisory method using Model Predictive Control". His fields of interest are PID control in frequency and timing method and MPC. He is a member of Human and Robot Interaction Laboratory at faculty of new sciences and technologies .His current research focuses on the servomotors and driver’s mechanism and product them. Jalal has many interests such as football, wrestle , Mountaineering and solve math problem.