Model predictive control of an overhead crane using constraint substitution. - Bartosz Kapernick; Knut Graichen (ACC, 2013)

A parallelizable decomposition approach for constrained optimal control problems. - Bartosz Kapernick; Sebastian Hentzelt; Knut Graichen (CDC, 2013)

Transformation of Output Constraints in Optimal Control Applied to a Double Pendulum on a Cart. - Bartosz Kapernick; Knut Graichen (NOLCOS, 2013)

The gradient based nonlinear model predictive control software GRAMPC. - Bartosz Kapernick; Knut Graichen (ECC, 2014)