Finite Elements with Switch Detection for Direct Optimal Control of Nonsmooth Systems with Set-Valued Step Functions. - Armin Nurkanovic; Jonathan Frey; Anton Pozharskiy; Moritz Diehl (CDC, 2023)

Continuous Optimization for Control of Finite-State Machines with Cascaded Hysteresis via Time-Freezing. - Wim Van Roy; Armin Nurkanovic; Ramin Abbasi-Esfeden; Jonathan Frey; Anton Pozharskiy; Jan Swevers; Moritz Diehl (CDC, 2023)

Finite Elements with Switched Detection for Direct Optimal Control of Nonsmooth Systems with Set-Valued Step Functions. - Armin Nurkanovic; Jonathan Frey; Anton Pozharskiy; Moritz Diehl (CoRR, 2023)

Finite Elements with Switch Detection for Numerical Optimal Control of Projected Dynamical Systems. - Anton Pozharskiy; Armin Nurkanovic; Moritz Diehl (CDC, 2024)