He obtained his Bachelor of Science in electrical engineering from ESIME-IPN, Mexico, in 1983; his Master of Science in electrical engineering from CINVESTAV-IPN, Mexico, in 1987; and his Doctor of Sciences from the University of Technology in Compiegne, France, in 1993. He is currently a professor in the Department of Automatic Control at CINVESTAV-IPN. His areas of interest are the control of manipulating robots, adaptive control, servo mechanisms, the identification of mechanical systems, systems solar tracking, delay-based controllers and educational aspects of automatic control, robotics, and Mechatronics.