Design of Robust Optimal Feedforward Controllers for Periodic Disturbances. - Goele Pipeleers; Bram Demeulenaere; Joris De Schutter; Jan Swevers (ACC, 2007)

Robust high-order repetitive control. - Goele Pipeleers; Bram Demeulenaere; Joris De Schutter; Jan Swevers (ACC, 2008)

Robust high-order repetitive control: Optimal performance trade-offs. - Goele Pipeleers; Bram Demeulenaere; Joris De Schutter; Jan Swevers (Autom., 2008)

Optimal performance trade-offs in repetitive control: Experimental validation on an active air bearing setup. - Goele Pipeleers; Bram Demeulenaere; Farid Al-Bender; Joris De Schutter; Jan Swevers (ACC, 2009)

Extended LMI characterizations for stability and performance of linear systems. - Goele Pipeleers; Bram Demeulenaere; Jan Swevers; Lieven Vandenberghe (Syst. Control. Lett., 2009)

Optimal Performance Tradeoffs in Repetitive Control: Experimental Validation on an Active Air Bearing Setup. - Goele Pipeleers; Bram Demeulenaere; Farid Al-Bender; Joris De Schutter; Jan Swevers (IEEE Trans. Control. Syst. Technol., 2009)

Pushing motion control systems to their limits using convex optimization techniques. - Jan Swevers; Goele Pipeleers; Moritz Diehl; Joris De Schutter (AMC, 2010)

Optimal feedforward controller design for periodic inputs. - Goele Pipeleers; Jan Swevers (Int. J. Control, 2010)

Model-free iterative learning control for LTI systems and experimental validation on a linear motor test setup. - Pieter Janssens; Goele Pipeleers; Jan Swevers (ACC, 2011)

Optimal input design for flat systems using B-splines. - Wannes Van Loock; Goele Pipeleers; Jan Swevers (ACC, 2011)

Reduced-order ILC: The Internal Model Principle reconsidered. - Goele Pipeleers; Kevin L. Moore 001 (ACC, 2011)

Fixed-order robust controller design with time-domain constraints. - Keivan Zavari; Hamid Khatibi; Vahid Johari Majd; Goele Pipeleers; Jan Swevers (ACC, 2011)

Model-free iterative learning of time-optimal point-to-point motions for LTI systems. - Pieter Janssens; Goele Pipeleers; Jan Swevers (CDC/ECC, 2011)

Generalized KYP Lemma With Real Data. - Goele Pipeleers; Lieven Vandenberghe (IEEE Trans. Autom. Control., 2011)

Multi-ℌ∞ controller design and illustration on an overhead crane. - Keivan Zavari; Goele Pipeleers; Jan Swevers (CCA, 2012)

Interpolated gain-scheduled controllers for an over-head crane. - Keivan Zavari; Goele Pipeleers; Jan Swevers (AMC, 2012)

Initialization of ILC based on a previously learned trajectory. - Pieter Janssens; Goele Pipeleers; Jan Swevers (ACC, 2012)

Reduced-Order Iterative Learning Control and a Design Strategy for Optimal Performance Tradeoffs. - Goele Pipeleers; Kevin L. Moore 001 (IEEE Trans. Autom. Control., 2012)

An LMI approach for reduced-order ℋ2 LTI controller synthesis. - Gijs Hilhorst; Goele Pipeleers; Jan Swevers (ACC, 2013)

Reduced-order multi-objective ℋ∞ control of an overhead crane test setup. - Gijs Hilhorst; Goele Pipeleers; Jan Swevers (CDC, 2013)

Iterative learning control for optimal path following problems. - Pieter Janssens; Wannes Van Loock; Goele Pipeleers; Frederik Debrouwere; Jan Swevers (CDC, 2013)

Robust optimal iterative learning control with model uncertainty. - Tong Duy Son; Goele Pipeleers; Jan Swevers (CDC, 2013)

Time-optimal quadrotor flight. - Wannes Van Loock; Goele Pipeleers; Jan Swevers (ECC, 2013)

Generalizing the KYP lemma to the union of intervals. - Goele Pipeleers; Tetsuya Iwasaki; Shinji Hara (ECC, 2013)

Optimal iterative learning control design with trial-varying initial conditions. - Tong Duy Son; Goele Pipeleers; Jan Swevers (ECC, 2013)

Optimal robot path following for minimal time versus energy loss trade-off using sequential convex programming. - Frederik Debrouwere; Wannes Van Loock; Goele Pipeleers; Dinh Quoc Tran; Moritz Diehl; Joris De Schutter; Jan Swevers (ICM, 2013)

An efficient algorithm for solving time-optimal point-to-point motion control problems. - Pieter Janssens; Wannes Van Loock; Goele Pipeleers; Jan Swevers (ICM, 2013)

Time-optimal parking and flying: Solving path following problems efficiently. - Wannes Van Loock; Steven Bellens; Goele Pipeleers; Joris De Schutter; Jan Swevers (ICM, 2013)

Time-optimal path following for robots with trajectory jerk constraints using sequential convex programming. - Frederik Debrouwere; Wannes Van Loock; Goele Pipeleers; Dinh Quoc Tran; Moritz Diehl; Joris De Schutter; Jan Swevers (ICRA, 2013)

Time-optimal path following for robots with object collision avoidance using lagrangian duality. - Frederik Debrouwere; Wannes Van Loock; Goele Pipeleers; Moritz Diehl; Joris De Schutter; Jan Swevers (RoMoCo, 2013)

Time-optimal path planning for flat systems with application to a wheeled mobile robot. - Wannes Van Loock; Goele Pipeleers; Jan Swevers (RoMoCo, 2013)

Convex time-optimal robot path following with Cartesian acceleration and inertial force and torque constraints. - Frederik Debrouwere; Wannes Van Loock; Goele Pipeleers; Moritz Diehl; Jan Swevers; Joris De Schutter (J. Syst. Control. Eng., 2013)

A Data-Driven Constrained Norm-Optimal Iterative Learning Control Framework for LTI Systems. - Pieter Janssens; Goele Pipeleers; Jan Swevers (IEEE Trans. Control. Syst. Technol., 2013)

Time-Optimal Path Following for Robots With Convex-Concave Constraints Using Sequential Convex Programming. - Frederik Debrouwere; Wannes Van Loock; Goele Pipeleers; Dinh Quoc Tran; Moritz Diehl; Joris De Schutter; Jan Swevers (IEEE Trans. Robotics, 2013)

Time-optimal tube following for robotic manipulators. - Frederik Debrouwere; Wannes Van Loock; Goele Pipeleers; Jan Swevers (AMC, 2014)

Generalizing the KYP Lemma to Multiple Frequency Intervals. - Goele Pipeleers; Tetsuya Iwasaki; Shinji Hara (SIAM J. Control. Optim., 2014)

Unified Analysis of Iterative Learning and Repetitive Controllers in Trial Domain. - Goele Pipeleers; Kevin L. Moore 001 (IEEE Trans. Autom. Control., 2014)

Energy-Optimal Time Allocation of a Series of Point-to-Point Motions. - Pieter Janssens; Goele Pipeleers; Moritz Diehl; Jan Swevers (IEEE Trans. Control. Syst. Technol., 2014)

Gain-Scheduled Controller Design: Illustration on an Overhead Crane. - Keivan Zavari; Goele Pipeleers; Jan Swevers (IEEE Trans. Ind. Electron., 2014)

Optimal Path Following for Differentially Flat Robotic Systems Through a Geometric Problem Formulation. - Wannes Van Loock; Goele Pipeleers; Moritz Diehl; Joris De Schutter; Jan Swevers (IEEE Trans. Robotics, 2014)

A sequential log barrier method for solving convex-concave problems with applications in robotics. - Frederik Debrouwere; Goele Pipeleers; Jan Swevers (ACC, 2015)

Reduced-order ℋ2/ℋ∞ control of discrete-time LPV systems with experimental validation on an overhead crane test setup. - Gijs Hilhorst; Goele Pipeleers; Wim Michiels; Ricardo C. L. F. Oliveira; Pedro Luis Dias Peres; Jan Swevers (ACC, 2015)

Optimal motion planning for differentially flat systems with guaranteed constraint satisfaction. - Wannes Van Loock; Goele Pipeleers; Jan Swevers (ACC, 2015)

Robust analysis and synthesis with unstructured model uncertainty in lifted system iterative learning control. - Tong Duy Son; Goele Pipeleers; Jan Swevers (ACC, 2015)

A combined use of the adaptive inverse plant modeling and iterative learning control strategy for service load simulations. - Sikandar Moten; Goele Pipeleers; Wim Desmet; Jan Swevers (AuCC, 2015)

An iterative convex approach for fixed-order robust ℋ2/ℋ∞ control of discrete-time linear systems with parametric uncertainty. - Gijs Hilhorst; Goele Pipeleers; Wim Michiels; Ricardo C. L. F. Oliveira; Pedro L. D. Peres; Jan Swevers (CDC, 2015)

Sufficient LMI conditions for reduced-order multi-objective H2/H∞ control of LTI systems. - Gijs Hilhorst; Goele Pipeleers; Wim Michiels; Jan Swevers (Eur. J. Control, 2015)

Efficient Computation of Time-Optimal Point-to-Point Motion Trajectories. - Pieter Janssens; Wannes Van Loock; Goele Pipeleers; Jan Swevers (IEEE Trans. Control. Syst. Technol., 2015)

Control of linear parameter-varying systems using B-splines. - Gijs Hilhorst; Erik Lambrechts; Goele Pipeleers (CDC, 2016)

Path-following NMPC for serial-link robot manipulators using a path-parametric system reformulation. - Niels van Duijkeren; Robin Verschueren; Goele Pipeleers; Moritz Diehl; Jan Swevers (ECC, 2016)

Approximate parametric cone programming with applications in control. - Wannes Van Loock; Erik Lambrechts; Gijs Hilhorst; Goele Pipeleers (ECC, 2016)

Real-time motion planning in the presence of moving obstacles. - Tim Mercy; Wannes Van Loock; Goele Pipeleers (ECC, 2016)

A new gradient based approach for concurrent optimal plant and controller design. - Sikandar Moten; Goele Pipeleers; Jan Swevers (ECC, 2016)

Online distributed motion planning for multi-vehicle systems. - Ruben Van Parys; Goele Pipeleers (ECC, 2016)

Robust performance iterative learning control : Analysis, synthesis and experimental validation. - Tong Duy Son; Armin Steinhauser; Goele Pipeleers; Jan Swevers (ECC, 2016)

An LTI control toolbox - Simplifying optimal feedback controller design. - Maarten Verbandt; Jan Swevers; Goele Pipeleers (ECC, 2016)

B-spline parametrized solution of robust PID control using the generalized KYP lemma. - Masato Kanematsu; Gijs Hilhorst; Hiroshi Fujimoto; Goele Pipeleers (IECON, 2016)

Experimental validation of a combined global and local LPV system identification approach with ℓ2, 1-norm regularization. - Dora Turk; Joris Gillis; Goele Pipeleers; Jan Swevers (IECON, 2016)

Robust Monotonic Convergent Iterative Learning Control. - Tong Duy Son; Goele Pipeleers; Jan Swevers (IEEE Trans. Autom. Control., 2016)

Fixed-Order Linear Parameter-Varying Feedback Control of a Lab-Scale Overhead Crane. - Gijs Hilhorst; Goele Pipeleers; Wim Michiels; Ricardo C. L. F. Oliveira; Pedro L. D. Peres; Jan Swevers (IEEE Trans. Control. Syst. Technol., 2016)

Distributed model predictive formation control with inter-vehicle collision avoidance. - Ruben Van Parys; Goele Pipeleers (ASCC, 2017)

NMPC with economic objectives on target manifolds. - Niels van Duijkeren; Timm Faulwasser; Goele Pipeleers (CDC, 2017)

A generalized frequency domain learning control design with experimental validation. - Tong Duy Son; Goele Pipeleers; Jan Swevers; Herman Van der Auweraer (IECON, 2017)

Multi-objective iterative learning control using convex optimization. - Tong Duy Son; Goele Pipeleers; Jan Swevers (Eur. J. Control, 2017)

Distributed MPC for multi-vehicle systems moving in formation. - Ruben Van Parys; Goele Pipeleers (Robotics Auton. Syst., 2017)

A toolbox for robust control design: An illustrative case study. - Laurens Jacobs; Maarten Verbandt; Andreas De Preter; Jan Anthonis; Jan Swevers; Goele Pipeleers (AMC, 2018)

Online motion planning for autonomous vehicles in vast environments. - Tim Mercy; Erik Hostens; Goele Pipeleers (AMC, 2018)

Concurrent H2/H∞feedback control design with optimal sensor and actuator selection. - Taranjitsingh Singh; Jan Swevers; Goele Pipeleers (AMC, 2018)

Flexible Multi-Agent System for Distributed Coordination, Transportation & Localisation. - Ruben Van Parys; Maarten Verbandt; Marcus Kotzé; Jan Swevers; Herman Bruyninckx; Johan Philips; Goele Pipeleers (AAMAS, 2018)

H∞ Model Order Reduction of Uncertain Linear Systems Using generalized KYP Lemma. - Gustavo S. Mazzoccante; Gijs Hilhorst; Goele Pipeleers; Ricardo C. L. F. Oliveira (ECC, 2018)

Distributed model predictive control of multiple vehicles transporting a flexible payload∗. - Sampath Kumar Mulagaleti; Ruben Van Parys; Goele Pipeleers (ECC, 2018)

Real-time proximal gradient method for linear MPC. - Ruben Van Parys; Goele Pipeleers (ECC, 2018)

Embedded nonlinear model predictive control for obstacle avoidance using PANOC. - Ajay Sathya; Pantelis Sopasakis; Ruben Van Parys; Andreas Themelis; Goele Pipeleers; Panagiotis Patrinos (ECC, 2018)

Distributed Coordination, Transportation & Localisation in Industry 4.0. - Ruben Van Parys; Maarten Verbandt; Marcus Kotzé; Peter Coppens; Jan Swevers; Herman Bruyninckx; Johan Philips; Goele Pipeleers (IPIN, 2018)

Spline-Based Motion Planning for Autonomous Guided Vehicles in a Dynamic Environment. - Tim Mercy; Ruben Van Parys; Goele Pipeleers (IEEE Trans. Control. Syst. Technol., 2018)

Combined H∞ linear parameter varying control design and optimal sensor/actuator selection. - Taranjitsingh Singh; ZhongZhe Dong; Massimo De Mauri; Wilm Decré; Jan Swevers; Goele Pipeleers (ECC, 2019)

Range Bias Modeling and Autocalibration of an UWB Positioning System. - Andreas De Preter; Glenn Goysens; Jan Anthonis; Jan Swevers; Goele Pipeleers (IPIN, 2019)

Dual-Objective NMPC: Considering Economic Costs Near Manifolds. - Niels van Duijkeren; Timm Faulwasser; Goele Pipeleers (IEEE Trans. Autom. Control., 2019)

Spline-Based Trajectory Generation for CNC Machines. - Tim Mercy; Nicolas Jacquod; Raoul Herzog; Goele Pipeleers (IEEE Trans. Ind. Electron., 2019)

Real-Time Model Predictive Control for a Parallel Hybrid Electric Vehicle using Outer Approximation and Semi-Convex Cut Generation**This work has been carried out within the framework of KU Leuven - BOF PFV/10/002 Centre of Excellence: Optimization in Engineering (OPTEC) and DrivetrainCodesign: Flanders Make ICON: Physical and control co-design of electromechanical drivetrains for machines and vehicles. Flanders Make is the Flemish strategic research centre for the manufacturing industry. - Massimo De Mauri; Joris Gillis; Goele Pipeleers; Jan Swevers (AMC, 2020)

Obstacle Avoidance in Path Following using Local Spline Relaxation. - Bastiaan Vandewal; Joris Gillis; Erwin Rademakers; Goele Pipeleers; Jan Swevers (AMC, 2020)

Real Time Iterations for Mixed-Integer Model Predictive Control. - Massimo De Mauri; Wim Van Roy; Joris Gillis; Jan Swevers; Goele Pipeleers (ECC, 2020)

Real-time Robot Arm Motion Planning and Control with Nonlinear Model Predictive Control using Augmented Lagrangian on a First-Order Solver. - Ajay Suresha Sathya; Joris Gillis; Goele Pipeleers; Jan Swevers (ECC, 2020)

A proximal-point outer approximation algorithm. - Massimo De Mauri; Joris Gillis; Jan Swevers; Goele Pipeleers (Comput. Optim. Appl., 2020)

Design of robust decentralised controllers for MIMO plants with delays through network structure exploitation. - Deesh Dileep; Ruben Van Parys; Goele Pipeleers; Laurentiu Hetel; Jean-Pierre Richard; Wim Michiels (Int. J. Control, 2020)

Speed-Up of Nonlinear Model Predictive Control for Robot Manipulators Using Task and Data Parallelism. - Alejandro Astudillo; Joris Gillis; Goele Pipeleers; Wilm Decré; Jan Swevers (AMC, 2021)

Multi-stage Optimal Control Problem Formulation for Drone Racing Through Gates and Tunnels. - Mathias Bos; Wilm Decré; Jan Swevers; Goele Pipeleers (AMC, 2021)

A Smooth Reformulation of Collision Avoidance Constraints in Trajectory Planning. - Dries Dirckx; Joris Gillis; Jan Swevers; Wilm Decré; Goele Pipeleers (AMC, 2021)

Development of a flexible link setup for an advanced linear control theory course. - Laurens Jacobs; Wilm Decré; Jan Swevers; Goele Pipeleers (AMC, 2021)

ECOset-ILC: an Iterative Learning Control Approach with Set-membership Uncertainty. - Daniele Ronzani; Joris Gillis; Goele Pipeleers; Jan Swevers (AMC, 2021)

Simplified Wheel Slip Modeling and Estimation for Omnidirectional Vehicles. - Bastiaan Vandewal; Joris Gillis; Goele Pipeleers; Jan Swevers (AMC, 2021)

A penalty method for nonlinear programs with set exclusion constraints. - Ben Hermans; Goele Pipeleers; Panagiotis Patrinos (Autom., 2021)

A Weighted Method for Fast Resolution of Strictly Hierarchical Robot Task Specifications Using Exact Penalty Functions. - Ajay Suresha Sathya; Goele Pipeleers; Wilm Decré; Jan Swevers (IEEE Robotics Autom. Lett., 2021)

A Feasible Sequential Linear Programming Algorithm with Application to Time-Optimal Path Planning Problems. - David Kiessling; Andrea Zanelli; Armin Nurkanovic; Joris Gillis; Moritz Diehl; Melanie N. Zeilinger; Goele Pipeleers; Jan Swevers (CDC, 2022)

A Simple Formulation for Fast Prioritized Optimal Control of Robots using Weighted Exact Penalty Functions. - Ajay Suresha Sathya; Wilm Decré; Goele Pipeleers; Jan Swevers (ICRA, 2022)

Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills. - Ajay Suresha Sathya; Alejandro Astudillo; Joris Gillis; Wilm Decré; Goele Pipeleers; Jan Swevers (IROS, 2022)

Position and Orientation Tunnel-Following NMPC of Robot Manipulators Based on Symbolic Linearization in Sequential Convex Quadratic Programming. - Alejandro Astudillo; Joris Gillis; Moritz Diehl; Wilm Decré; Goele Pipeleers; Jan Swevers (IEEE Robotics Autom. Lett., 2022)

Example of the implementation of the SCQP method using the lin operator. - Alejandro Astudillo; Joris Gillis; Moritz Diehl; Wilm Decré; Goele Pipeleers; Jan Swevers (IEEE DataPort, 2022)

Enhancing Constraint-Based Robot Task Specification with Dual Controller and Estimator Synthesis. - Ruan Viljoen; Johan Ubbink; Goele Pipeleers; Wilm Decré; Erwin Aertbeliën; Joris De Schutter (CASE, 2023)

Efficient Constrained Dynamics Algorithms Based on an Equivalent LQR Formulation Using Gauss' Principle of Least Constraint. - Ajay Suresha Sathya; Herman Bruyninckx; Wilm Decré; Goele Pipeleers (IEEE Trans. Robotics, 2024)