Phelps takes the spot vacated when Damon Stoudamire left to take an assistant coaching job at Memphis.
Phelps was associate head coach at Arizona State for two seasons before taking the Drake job. Before going to the Sun Devils, he was an assistant at North Carolina State for 10 seasons. He and Miller were on the staff together at North Carolina State for five years.
Phelps has 19 years of NCAA Division I experience.