Real-time feasibility of nonlinear predictive control for large scale processes-a case study. - Zoltán K. Nagy; Rolf Findeisen; Moritz Diehl; Frank Allgöwer; Hans Georg Bock; Paul Serban Agachi; Johannes P. Schlöder; Daniel B. Leineweber (ACC, 2000)

Computational feasibility and performance of nonlinear model predictive control schemes. - Rolf Findeisen; Moritz Diehl; Zoltán K. Nagy; Frank Allgöwer; Hans Georg Bock; Johannes P. Schlöder (ECC, 2001)

Efficient output feedback nonlinear model predictive control. - Rolf Findeisen; Moritz Diehl; Tobias Bürner; Frank Allgöwer; Hans Georg Bock; Johannes P. Schlöder (ACC, 2002)

Computation and performance assessment of nonlinear model predictive control. - Rolf Findeisen; Moritz Diehl; Ilknur Disli-Uslu; Stefan Schwarzkopf; Frank Allgöwer; Hans Georg Bock; Johannes P. Schlöder; Ernst Dieter Gilles (CDC, 2002)

Stability of nonlinear model predictive control in the presence of errors due to numerical online optimization. - Moritz Diehl; Rolf Findeisen; Frank Allgöwer; Hans Georg Bock; Johannes P. Schlöder (CDC, 2003)

Efficient NMPC of unstable periodic systems using approximate infinite horizon closed loop costing. - Moritz Diehl; Lalo Magni; Giuseppe De Nicolao (Annu. Rev. Control., 2004)

Robust dynamic programming for min-max model predictive control of constrained uncertain systems. - Moritz Diehl; Jakob E. Björnberg (IEEE Trans. Autom. Control., 2004)

Real-Time Iterations for Nonlinear Optimal Feedback Control. - Moritz Diehl; Hans Georg Bock; Johannes P. Schlöder (CDC/ECC, 2005)

A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control. - Moritz Diehl; Hans Georg Bock; Johannes P. Schlöder (SIAM J. Control. Optim., 2005)

Optimization of the Start-up Procedure of a Combined Cycle Power Plant. - Chiara Albanesi; Marco Bossi; Lalo Magni; Jurij Paderno; Francesco Pretolani; Peter Kühl; Moritz Diehl (CDC, 2006)

Optimal Control of Towing Kites. - Boris Houska; Moritz Diehl (CDC, 2006)

Approximate Dynamic Programming for Generation of Robustly Stable Feedback Controllers. - Jakob E. Björnberg; Moritz Diehl (HPSC, 2006)

A Moving Horizon State Estimation algorithm applied to the Tennessee Eastman Benchmark Process. - Tom Kraus; Peter Kühl; Leonard Wirsching; Hans Georg Bock; Moritz Diehl (MFI, 2006)

Determining SMB Superstructures by Mixed-Integer Optimal Control. - Sebastian Sager; Moritz Diehl; Gundeep Singh; Achim Küpper; Sebastian Engell (OR, 2006)

Schnelle Algorithmen für die Zustands- und Parameterschätzung auf bewegten Horizonten (Fast Algorithms for State and Parameter Estimation on Moving Horizons). - Moritz Diehl; Peter Kühl; Hans Georg Bock; Johannes P. Schlöder (Autom., 2006)

Approximate robust dynamic programming and robustly stable MPC. - Jakob E. Björnberg; Moritz Diehl (Autom., 2006)

An approximation technique for robust nonlinear optimization. - Moritz Diehl; Hans Georg Bock; Ekaterina A. Kostina (Math. Program., 2006)

Loss of Superlinear Convergence for an SQP-Type Method with Conic Constraints. - Moritz Diehl; Florian Jarre; Christoph H. Vogelbusch (SIAM J. Optim., 2006)

Predictive control of a real-world Diesel engine using an extended online active set strategy. - Hans Joachim Ferreau; Peter Ortner; Peter Langthaler; Luigi del Re; Moritz Diehl (Annu. Rev. Control., 2007)

Exploiting system homogeneities in large scale optimal control problems for speedup of multiple shooting based SQP methods. - Sebastian Sager; Ulrich Brandt-Pollmann; Moritz Diehl; Dirk Lebiedz; Hans Georg Bock (Comput. Chem. Eng., 2007)

Formulation of Closed-Loop Min-Max MPC as a Quadratically Constrained Quadratic Program. - Moritz Diehl (IEEE Trans. Autom. Control., 2007)

A nonlinear least squares estimation procedure without initial parameter guesses. - Julian Bonilla Alarcon; Moritz Diehl; Bart De Moor; Jan F. M. Van Impe (CDC, 2008)

Model predictive control of automotive powertrains - first experimental results. - Bart Saerens; Moritz Diehl; Jan Swevers; Eric Van den Bulck (CDC, 2008)

On the implementation of model predictive control for on-line walking pattern generation. - Dimitar Dimitrov 001; Pierre-Brice Wieber; Hans Joachim Ferreau; Moritz Diehl (ICRA, 2008)

Online walking gait generation with adaptive foot positioning through Linear Model Predictive control. - Holger Diedam; Dimitar Dimitrov 001; Pierre-Brice Wieber; Katja D. Mombaur; Moritz Diehl (IROS, 2008)

Numerical solution approaches for robust nonlinear optimal control problems. - Moritz Diehl; Johannes Gerhard; Wolfgang Marquardt; Martin Mönnigmann (Comput. Chem. Eng., 2008)

Every Continuous Nonlinear Control System Can be Obtained by Parametric Convex Programming. - Michel Baes; Moritz Diehl; Ion Necoara (IEEE Trans. Autom. Control., 2008)

Distributed Spectrum Management Algorithms for Multiuser DSL Networks. - Paschalis Tsiaflakis; Moritz Diehl; Marc Moonen (IEEE Trans. Signal Process., 2008)

Performant design of an input shaping prefilter via embedded optimization. - Lieboud Van den Broeck; Moritz Diehl; Jan Swevers (ACC, 2009)

Recursive log-barrier method for on-line time-optimal robot path tracking. - Diederik Verscheure; Moritz Diehl; Joris De Schutter; Jan Swevers (ACC, 2009)

A convex approximation for parameter estimation involving parameter-affine dynamic models. - Julian Bonilla Alarcon; Moritz Diehl; Filip Logist; Bart De Moor; Jan F. M. Van Impe (CDC, 2009)

Time optimal MPC for mechatronic applications. - Lieboud Van den Broeck; Moritz Diehl; Jan Swevers (CDC, 2009)

A structure exploiting interior-point method for moving horizon estimation. - Niels Haverbeke; Moritz Diehl; Bart De Moor (CDC, 2009)

Robust nonlinear optimal control of dynamic systems with affine uncertainties. - Boris Houska; Moritz Diehl (CDC, 2009)

Approximate robust optimization of time-periodic stationary states with application to biochemical processes. - Boris Houska; Filip Logist; Jan F. M. Van Impe; Moritz Diehl (CDC, 2009)

Distributed nonlinear optimal control using sequential convex programming and smoothing techniques. - Ion Necoara; Carlo Savorgnan; Dinh Quoc Tran; Johan A. K. Suykens; Moritz Diehl (CDC, 2009)

Discrete-time stochastic optimal control via occupation measures and moment relaxations. - Carlo Savorgnan; Jean B. Lasserre; Moritz Diehl (CDC, 2009)

An application of sequential convex programming to time optimal trajectory planning for a car motion. - Dinh Quoc Tran; Moritz Diehl (CDC, 2009)

Real-Time Sequential Convex Programming for Optimal Control Applications. - Dinh Quoc Tran; Carlo Savorgnan; Moritz Diehl (HPSC, 2009)

On-line time-optimal path tracking for robots. - Diederik Verscheure; Moritz Diehl; Joris De Schutter; Jan Swevers (ICRA, 2009)

Windenergienutzung mit schnell fliegenden Flugdrachen: eine Herausforderung für die Optimierung und Regelung (Wind Power via Fast Flying Kites: a Challenge for Optimization and Control). - Moritz Diehl; Boris Houska (Autom., 2009)

The Smoothed Spectral Abscissa for Robust Stability Optimization. - Joris Vanbiervliet; Bart Vandereycken; Wim Michiels; Stefan Vandewalle; Moritz Diehl (SIAM J. Optim., 2009)

Positive Polynomial Constraints for POD-based Model Predictive Controllers. - Oscar Mauricio Agudelo; Michel Baes; Jairo Jose Espinosa; Moritz Diehl; Bart De Moor (IEEE Trans. Autom. Control., 2009)

Stability Optimization of Hybrid Periodic Systems via a Smooth Criterion. - Moritz Diehl; Katja D. Mombaur; Dominikus Noll (IEEE Trans. Autom. Control., 2009)

Time-Optimal Path Tracking for Robots: A Convex Optimization Approach. - Diederik Verscheure; Bram Demeulenaere; Jan Swevers; Joris De Schutter; Moritz Diehl (IEEE Trans. Autom. Control., 2009)

Robustness and Stability Optimization of Power Generating Kite Systems in a Periodic Pumping Mode. - Boris Houska; Moritz Diehl (CCA, 2010)

Experimental validation of time optimal MPC on a linear drive system. - Lieboud Van den Broeck; Moritz Diehl; Jan Swevers (AMC, 2010)

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

Nonlinear robust optimization of uncertainty affine dynamic systems under the L-infinity norm. - Boris Houska; Moritz Diehl (CACSD, 2010)

Towards a Computer Algebra System with Automatic Differentiation for use with Object-Oriented modelling languages. - Joel Andersson 001; Boris Houska; Moritz Diehl (EOOLT, 2010)

Perception-based clipping of audio signals. - Bruno Defraene; Toon van Waterschoot; Hans Joachim Ferreau; Moritz Diehl; Marc Moonen (EUSIPCO, 2010)

Online Walking Motion Generation with Automatic Footstep Placement. - Andrei Herdt; Holger Diedam; Pierre-Brice Wieber; Dimitar Dimitrov 001; Katja D. Mombaur; Moritz Diehl (Adv. Robotics, 2010)

Two nonlinear optimization methods for black box identification compared. - Anne Van Mulders; Johan Schoukens; Marnix Volckaert; Moritz Diehl (Autom., 2010)

An automatic initialization procedure in parameter estimation problems with parameter-affine dynamic models. - Julian Bonilla Alarcon; Moritz Diehl; Filip Logist; Bart De Moor; Jan F. M. Van Impe (Comput. Chem. Eng., 2010)

Online identification of adsorption isotherms in SMB processes via efficient moving horizon state and parameter estimation. - Achim Küpper; Leonard Wirsching; Moritz Diehl; Johannes P. Schlöder; Hans Georg Bock; Sebastian Engell (Comput. Chem. Eng., 2010)

An adjoint-based SQP algorithm with quasi-Newton Jacobian updates for inequality constrained optimization. - Moritz Diehl; Andrea Walther; Hans Georg Bock; Ekaterina A. Kostina (Optim. Methods Softw., 2010)

The Lifted Newton Method and Its Application in Optimization. - Jan Albersmeyer; Moritz Diehl (SIAM J. Optim., 2010)

Embedded Optimization for Input Shaping. - Lieboud Van den Broeck; Moritz Diehl; Jan Swevers (IEEE Trans. Control. Syst. Technol., 2010)

Experimental validation of time optimal MPC on a flexible motion system. - Lieboud Van den Broeck; Moritz Diehl; Jan Swevers (ACC, 2011)

Iterative learning control for nonlinear systems with input constraints and discontinuously changing dynamics. - Marnix Volckaert; Moritz Diehl; Jan Swevers (ACC, 2011)

Real-time sequential convex programming for nonlinear model predictive control and application to a hydro-power plant. - Dinh Quoc Tran; Carlo Savorgnan; Moritz Diehl (CDC/ECC, 2011)

A fast projected gradient optimization method for real-time perception-based clipping of audio signals. - Bruno Defraene; Toon van Waterschoot; Moritz Diehl; Marc Moonen (ICASSP, 2011)

An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range. - Boris Houska; Hans Joachim Ferreau; Moritz Diehl (Autom., 2011)

A real-time algorithm for moving horizon state and parameter estimation. - Peter Kühl; Moritz Diehl; Tom Kraus; Johannes P. Schlöder; Hans Georg Bock (Comput. Chem. Eng., 2011)

Nested multigrid methods for time-periodic, parabolic optimal control problems. - Dirk Abbeloos; Moritz Diehl; Michael Hinze; Stefan Vandewalle (Comput. Vis. Sci., 2011)

A Lyapunov Function for Economic Optimizing Model Predictive Control. - Moritz Diehl; Rishi Amrit; James B. Rawlings (IEEE Trans. Autom. Control., 2011)

An experimental test set-up for launch/recovery of an Airborne Wind Energy (AWE) system. - Kurt Geebelen; Hammad Ahmad; Milan Vukov; Sebastien Gros; Jan Swevers; Moritz Diehl (ACC, 2012)

Optimal periodic control of power harvesting tethered airplanes: How to fly fast without wind and without propellor? - Joris Gillis; Jan Goos; Kurt Geebelen; Jan Swevers; Moritz Diehl (ACC, 2012)

Orbit control for a power generating airfoil based on nonlinear MPC. - Sebastien Gros; Mario Zanon; Moritz Diehl (ACC, 2012)

A structure exploiting algorithm for approximate robust optimal control with application to power generating kites. - Julia Sternberg; Boris Houska; Moritz Diehl (ACC, 2012)

Experimental validation of nonlinear MPC on an overhead crane using automatic code generation. - Milan Vukov; Wannes Van Loock; Boris Houska; Hans Joachim Ferreau; Jan Swevers; Moritz Diehl (ACC, 2012)

Dynamic optimization with CasADi. - Joel Andersson 001; Johan Åkesson; Moritz Diehl (CDC, 2012)

High-speed moving horizon estimation based on automatic code generation. - Hans Joachim Ferreau; Tom Kraus; Milan Vukov; Wouter Saeys; Moritz Diehl (CDC, 2012)

Attitude estimation based on inertial and position measurements. - Sebastien Gros; Moritz Diehl (CDC, 2012)

Aircraft control based on fast non-linear MPC & multiple-shooting. - Sebastien Gros; Rien Quirynen; Moritz Diehl (CDC, 2012)

An inner convex approximation algorithm for BMI optimization and applications in control. - Dinh Quoc Tran; Wim Michiels; Sebastien Gros; Moritz Diehl (CDC, 2012)

Perception-based nonlinear loudspeaker compensation through embedded convex optimization. - Bruno Defraene; Toon van Waterschoot; Moritz Diehl; Marc Moonen (EUSIPCO, 2012)

A psychoacoustically motivated speech distortion weighted multi-channel wiener filter for noise reduction. - Bruno Defraene; Kim Ngo; Toon van Waterschoot; Moritz Diehl; Marc Moonen (ICASSP, 2012)

Optimization of Stable Periodic Attractors for Nonlinear Dynamic Systems. - Boris Houska; Moritz Diehl (ROCOND, 2012)

Approximate Robust Optimal Control of Periodic Systems with Invariants and High-Index Differential Algebraic Systems. - Julia Sternberg; Boris Houska; Sebastien Gros; Moritz Diehl (ROCOND, 2012)

A Toolkit for Efficient Computation of Sensitivities in Approximate Robust Optimal Control Problems. - Julia Sternberg; Boris Houska; Filip Logist; Dries Telen; Jan F. M. Van Impe; Moritz Diehl (ROCOND, 2012)

Sigmapoint Approach for Robust Optimization of Nonlinear Dynamic Systems. - Sebastian Recker; Peter Kühl; Moritz Diehl; Hans Georg Bock (SIMULTECH, 2012)

Multi-objective optimal control of chemical processes using ACADO toolkit. - Filip Logist; Mattia Vallerio; Boris Houska; Moritz Diehl; Jan F. M. Van Impe (Comput. Chem. Eng., 2012)

The integer approximation error in mixed-integer optimal control. - Sebastian Sager; Hans Georg Bock; Moritz Diehl (Math. Program., 2012)

Adjoint-Based Predictor-Corrector Sequential Convex Programming for Parametric Nonlinear Optimization. - Dinh Quoc Tran; Carlo Savorgnan; Moritz Diehl (SIAM J. Optim., 2012)

Combining Convex-Concave Decompositions and Linearization Approaches for Solving BMIs, With Application to Static Output Feedback. - Dinh Quoc Tran; Suat Gumussoy; Wim Michiels; Moritz Diehl (IEEE Trans. Autom. Control., 2012)

Real-Time Perception-Based Clipping of Audio Signals Using Convex Optimization. - Bruno Defraene; Toon van Waterschoot; Hans Joachim Ferreau; Moritz Diehl; Marc Moonen (IEEE Trans. Speech Audio Process., 2012)

Moving Horizon Estimation with a huber penalty function for robust pose estimation of tethered airplanes. - Kurt Geebelen; A. Wagner; Sebastien Gros; Jan Swevers; Moritz Diehl (ACC, 2013)

NMPC based on Huber penalty functions to handle large deviations of quadrature states. - Sebastien Gros; Moritz Diehl (ACC, 2013)

A framework for nonlinear model-predictive control using object-oriented modeling with a case study in power plant start-up. - Per-Ola Larsson; Francesco Casella; Fredrik Magnusson; Joel Andersson 001; Moritz Diehl; Johan Åkesson (CACSD, 2013)

A positive definiteness preserving discretization method for Lyapunov differential equations. - Joris Gillis; Moritz Diehl (CDC, 2013)

A real-time MHE and NMPC scheme for wind turbine control. - Sebastien Gros; Milan Vukov; Moritz Diehl (CDC, 2013)

A distributed method for convex quadratic programming problems arising in optimal control of distributed systems. - Attila Kozma; Janick V. Frasch; Moritz Diehl (CDC, 2013)

Efficient NMPC for nonlinear models with linear subsystems. - Rien Quirynen; Sebastien Gros; Moritz Diehl (CDC, 2013)

A dual decomposition algorithm for separable nonconvex optimization using the penalty function framework. - Dinh Quoc Tran; Ion Necoara; Moritz Diehl (CDC, 2013)

Auto-generated algorithms for nonlinear model predictive control on long and on short horizons. - Milan Vukov; Alexander Domahidi; Hans Joachim Ferreau; Manfred Morari; Moritz Diehl (CDC, 2013)

A Lyapunov function for periodic economic optimizing Model Predictive Control. - Mario Zanon; Sebastien Gros; Moritz Diehl (CDC, 2013)

Tool Demonstration Abstract: OpenModelica and CasADi for Model-Based Dynamic Optimization. - Alachew Shitahun; Vitalij Ruge; Mahder Gebremedhin; Bernhard Bachmann; Lars Eriksson; Joel Andersson 001; Moritz Diehl; Peter Fritzson (EOOLT, 2013)

An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles. - Janick V. Frasch; Andrew Gray; Mario Zanon; Hans Joachim Ferreau; Sebastian Sager; Francesco Borrelli; Moritz Diehl (ECC, 2013)

Moving horizon observation for autonomous operation of agricultural vehicles. - Janick V. Frasch; Tom Kraus; Wouter Saeys; Moritz Diehl (ECC, 2013)

A relaxation strategy for the optimization of Airborne Wind Energy systems. - Sebastien Gros; Mario Zanon; Moritz Diehl (ECC, 2013)

Control of Airborne Wind Energy systems based on Nonlinear Model Predictive Control & Moving Horizon Estimation. - Sebastien Gros; Mario Zanon; Moritz Diehl (ECC, 2013)

Fast auto generated ACADO integrators and application to MHE with multi-rate measurements. - Rien Quirynen; Sebastien Gros; Moritz Diehl (ECC, 2013)

Guaranteed robust optimal experiment design for nonlinear dynamic systems. - Dries Telen; Boris Houska; Filip Logist; Moritz Diehl; Jan F. M. Van Impe (ECC, 2013)

Nonlinear Moving Horizon Estimation for combined state and friction coefficient estimation in autonomous driving. - Mario Zanon; Janick V. Frasch; Moritz Diehl (ECC, 2013)

Rotational start-up of tethered airplanes based on nonlinear MPC and MHE. - Mario Zanon; Sebastien Gros; Moritz Diehl (ECC, 2013)

Embedded-optimization-based loudspeaker compensation using a generic Hammerstein loudspeaker model. - Bruno Defraene; Toon van Waterschoot; Moritz Diehl; Marc Moonen (EUSIPCO, 2013)

Embedded optimization algorithms for multi-microphone dereverberation. - Toon van Waterschoot; Bruno Defraene; Moritz Diehl; Marc Moonen (EUSIPCO, 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)

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)

A lifting method for generalized semi-infinite programs based on lower level Wolfe duality. - Moritz Diehl; Boris Houska; Oliver Stein; Paul Steuermann (Comput. Optim. Appl., 2013)

Combining Lagrangian decomposition and excessive gap smoothing technique for solving large-scale separable convex optimization problems. - Dinh Quoc Tran; Carlo Savorgnan; Moritz Diehl (Comput. Optim. Appl., 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)

Nonlinear robust optimization via sequential convex bilevel programming. - Boris Houska; Moritz Diehl (Math. Program., 2013)

An Inexact Perturbed Path-Following Method for Lagrangian Decomposition in Large-Scale Separable Convex Optimization. - Dinh Quoc Tran; Ion Necoara; Carlo Savorgnan; Moritz Diehl (SIAM J. Optim., 2013)

Declipping of Audio Signals Using Perceptual Compressed Sensing. - Bruno Defraene; Naim Mansour; Steven De Hertogh; Toon van Waterschoot; Moritz Diehl; Marc Moonen (IEEE ACM Trans. Audio Speech Lang. Process., 2013)

Airborne Wind Energy Based on Dual Airfoils. - Mario Zanon; Sebastien Gros; Joel Andersson 001; Moritz Diehl (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)

An improved Distributed Dual Newton-CG method for convex quadratic programming problems. - Attila Kozma; Emil Klintberg; Sebastien Gros; Moritz Diehl (ACC, 2014)

An improved real-time economic NMPC scheme for Wind Turbine control using spline-interpolated aerodynamic coefficients. - Sebastien Gros; Rien Quirynen; Moritz Diehl (CDC, 2014)

Symmetric algorithmic differentiation based exact Hessian SQP method and software for Economic MPC. - Rien Quirynen; Boris Houska; Mattia Vallerio; Dries Telen; Filip Logist; Jan F. M. Van Impe; Moritz Diehl (CDC, 2014)

Towards time-optimal race car driving using nonlinear MPC in real-time. - Robin Verschueren; Stijn De Bruyne; Mario Zanon; Janick V. Frasch; Moritz Diehl (CDC, 2014)

Local properties of economic NMPC, dissipativity and dynamic programming. - Mario Zanon; Sebastien Gros; Moritz Diehl (CDC, 2014)

Linear convergence of distributed multiple shooting. - Vyacheslav Kungurtsev; Attila Kozma; Moritz Diehl (ECC, 2014)

Control of Dual-Airfoil Airborne Wind Energy systems based on nonlinear MPC and MHE. - Mario Zanon; Greg Horn; Sebastien Gros; Moritz Diehl (ECC, 2014)

Sequential quadratic programming methods for parametric nonlinear optimization. - Vyacheslav Kungurtsev; Moritz Diehl (Comput. Optim. Appl., 2014)

Path-following gradient-based decomposition algorithms for separable convex optimization. - Dinh Quoc Tran; Ion Necoara; Moritz Diehl (J. Glob. Optim., 2014)

qpOASES: a parametric active-set algorithm for quadratic programming. - Hans Joachim Ferreau; Christian Kirches; Andreas Potschka; Hans Georg Bock; Moritz Diehl (Math. Program. Comput., 2014)

Convergence Guarantees for Moving Horizon Estimation Based on the Real-Time Iteration Scheme. - Andrew Wynn; Milan Vukov; Moritz Diehl (IEEE Trans. Autom. Control., 2014)

Embedded-Optimization-Based Loudspeaker Precompensation Using a Hammerstein Loudspeaker Model. - Bruno Defraene; Toon van Waterschoot; Moritz Diehl; Marc Moonen (IEEE ACM Trans. Audio Speech Lang. Process., 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)

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)

Nonlinear MPC for a two-stage turbocharged gasoline engine airpath. - Thivaharan Albin; Dennis Ritter; Dirk Abel; Norman Liberda; Rien Quirynen; Moritz Diehl (CDC, 2015)

Baumgarte stabilisation over the SO(3) rotation group for control. - Sebastien Gros; Mario Zanon; Moritz Diehl (CDC, 2015)

Lifted implicit integrators for direct optimal control. - Rien Quirynen; Sebastien Gros; Moritz Diehl (CDC, 2015)

First-order methods in embedded nonlinear model predictive control. - Dimitris Kouzoupis; Hans Joachim Ferreau; Helfried Peyrl; Moritz Diehl (ECC, 2015)

Automatic deployment of industrial embedded model predictive control using qpOASES. - D. Kwame Minde Kufoalor; B. J. T. Binder; Hans Joachim Ferreau; Lars Imsland; Tor Arne Johansen; Moritz Diehl (ECC, 2015)

Estimation of uncertain ARX models with ellipsoidal parameter variability. - Adeleh Mohammadi; Moritz Diehl; Mario Zanon (ECC, 2015)

A compression algorithm for real-time distributed nonlinear MPC. - Rien Quirynen; Mario Zanon; Attila Kozma; Moritz Diehl (ECC, 2015)

An economic objective for the optimal experiment design of nonlinear dynamic processes. - Boris Houska; Dries Telen; Filip Logist; Moritz Diehl; Jan F. M. Van Impe (Autom., 2015)

A quaternion-based model for optimal control of the SkySails airborne wind energy system. - Michael Erhard; Greg Horn; Moritz Diehl (CoRR, 2015)

A parallel quadratic programming method for dynamic optimization problems. - Janick V. Frasch; Sebastian Sager; Moritz Diehl (Math. Program. Comput., 2015)

Benchmarking large-scale distributed convex quadratic programming algorithms. - Attila Kozma; Christian Conte; Moritz Diehl (Optim. Methods Softw., 2015)

Optimization Algorithms for Model Predictive Control. - Moritz Diehl (Encyclopedia of Systems and Control, 2015)

Nonlinear MPC for Combustion Engine Control: A parameter study for realizing real-time feasibility. - Thivaharan Albin; Felix Frank; Dennis Ritter; Dirk Abel; Rien Quirynen; Moritz Diehl (CCA, 2016)

An efficient SQP algorithm for Moving Horizon Estimation with Huber penalties and multi-rate measurements. - Dimitris Kouzoupis; Rien Quirynen; Fabian Girrbach; Moritz Diehl (CCA, 2016)

A block based ALADIN scheme for highly parallelizable direct Optimal Control. - Dimitris Kouzoupis; Rien Quirynen; Boris Houska; Moritz Diehl (ACC, 2016)

Symmetric Hessian propagation for lifted collocation integrators in direct Optimal Control. - Rien Quirynen; Boris Houska; Moritz Diehl (ACC, 2016)

Time-optimal motion planning for n-DOF robot manipulators using a path-parametric system reformulation. - Robin Verschueren; Niels van Duijkeren; Jan Swevers; Moritz Diehl (ACC, 2016)

An efficient implementation of partial condensing for Nonlinear Model Predictive Control. - Gianluca Frison; Dimitris Kouzoupis; John Bagterp Jørgensen; Moritz Diehl (CDC, 2016)

A quadratically convergent primal decomposition algorithm with soft coupling for nonlinear parameter estimation. - Dimitris Kouzoupis; Rien Quirynen; Jesus Lago Garcia; Michael Erhard; Moritz Diehl (CDC, 2016)

Exploiting convexity in direct Optimal Control: a sequential convex quadratic programming method. - Robin Verschueren; Niels van Duijkeren; Rien Quirynen; Moritz Diehl (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)

Optimal control for minimizing power consumption during holding patterns for airborne wind energy pumping system. - Giovanni Licitra; Sören Sieberling; S. Engelen; Paul Williams; Richard Ruiterkamp; Moritz Diehl (ECC, 2016)

Time-optimal race car driving using an online exact hessian based nonlinear MPC algorithm. - Robin Verschueren; Mario Zanon; Rien Quirynen; Moritz Diehl (ECC, 2016)

A sequential convex programming algorithm for minimizing a sum of Euclidean norms with non-convex constraints. - Le Hong Trang; Attila Kozma; Thanh An Phan; Moritz Diehl (Optim. Methods Softw., 2016)

An Augmented Lagrangian Based Algorithm for Distributed NonConvex Optimization. - Boris Houska; Janick V. Frasch; Moritz Diehl (SIAM J. Optim., 2016)

A Short Note on Constrained Linear Control Systems With Multiplicative Ellipsoidal Uncertainty. - Boris Houska; Adeleh Mohammadi; Moritz Diehl (IEEE Trans. Autom. Control., 2016)

Robust Stability of Moving Horizon Estimation Under Bounded Disturbances. - Luo Ji; James B. Rawlings; Wuhua Hu; Andrew Wynn; Moritz Diehl (IEEE Trans. Autom. Control., 2016)

Model Predictive Control of Nonholonomic Mobile Robots Without Stabilizing Constraints and Costs. - Karl Worthmann; Mohamed W. Mehrez; Mario Zanon; George K. I. Mann; Raymond G. Gosine; Moritz Diehl (IEEE Trans. Control. Syst. Technol., 2016)

Optimum experimental design of a rigid wing AWE pumping system. - Giovanni Licitra; Adrian Bürger; Paul Williams; Richard Ruiterkamp; Moritz Diehl (CDC, 2017)

A stabilizing nonlinear model predictive control scheme for time-optimal point-to-point motions. - Robin Verschueren; Hans Joachim Ferreau; Alessandro Zanarini; Mehmet Mercangöz; Moritz Diehl (CDC, 2017)

A partially tightened real-time iteration scheme for nonlinear model predictive control. - Andrea Zanelli; Rien Quirynen; Gianluca Frison; Moritz Diehl (CDC, 2017)

Robust MPC via min-max differential inequalities. - Mario Eduardo Villanueva; Rien Quirynen; Moritz Diehl; Benoît Chachuat; Boris Houska (Autom., 2017)

BLASFEO: Basic linear algebra subroutines for embedded optimization. - Gianluca Frison; Dimitris Kouzoupis; Andrea Zanelli; Moritz Diehl (CoRR, 2017)

An Approach for Analyzing the Global Rate of Convergence of Quasi-Newton and Truncated-Newton Methods. - Tobias Lindstrøm Jensen; Moritz Diehl (J. Optim. Theory Appl., 2017)

Lifted collocation integrators for direct optimal control in ACADO toolkit. - Rien Quirynen; Sebastien Gros; Boris Houska; Moritz Diehl (Math. Program. Comput., 2017)

Optimization-Based Sensor Fusion of GNSS and IMU Using a Moving Horizon Approach. - Fabian Girrbach; Jeroen D. Hol; Giovanni Bellusci; Moritz Diehl (Sensors, 2017)

A Sparsity Preserving Convexification Procedure for Indefinite Quadratic Programs Arising in Direct Optimal Control. - Robin Verschueren; Mario Zanon; Rien Quirynen; Moritz Diehl (SIAM J. Optim., 2017)

Periodic Optimal Control, Dissipativity and MPC. - Mario Zanon; Lars Grüne; Moritz Diehl (IEEE Trans. Autom. Control., 2017)

Lifted Newton-Type Optimization for Pseudospectral Methods in Nonlinear Model Predictive Control. - Rien Quirynen; Moritz Diehl (ACC, 2018)

Contactless Current Sensing with Position Detection Using Model-Based Nonlinear Optimization. - Lukas Klar; Stefan Albrecht; Moritz Diehl (CCTA, 2018)

An Algorithm for Mixed-Integer Optimal Control of Solar Thermal Climate Systems with MPC-Capable Runtime. - Adrian Bürger; Clemens Zeile; Angelika Altmann-Dieses; Sebastian Sager; Moritz Diehl (ECC, 2018)

Real-Time Nonlinear Model Predictive Control of a Motion Simulator Based on a 8-DOF Serial Robot. - Mikhail Katliar; Frank M. Drop; Harald Teufell; Moritz Diehl; Heinrich H. Bülthoff (ECC, 2018)

Operational Regions of a Multi-Kite AWE System. - Rachel Leuthold; Jochem De Schutter; Elena C. Malz; Giovanni Licitra; Sebastien Gros; Moritz Diehl (ECC, 2018)

Optimal Control of a Rigid-Wing Rotary Kite System for Airborne Wind Energy. - Jochem De Schutter; Rachel Leuthold; Moritz Diehl (ECC, 2018)

Nonlinear Model Predictive Control of a Human-sized Quadrotor. - Andrea Zanelli; Greg Horn; Gianluca Frison; Moritz Diehl (ECC, 2018)

A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control. - Markus Giftthaler; Michael Neunert; Markus Stäuble; Jonas Buchli; Moritz Diehl (IROS, 2018)

Inexact Newton-Type Optimization with Iterated Sensitivities. - Rien Quirynen; Sebastien Gros; Moritz Diehl (SIAM J. Optim., 2018)

In-Vehicle Realization of Nonlinear MPC for Gasoline Two-Stage Turbocharging Airpath Control. - Thivaharan Albin; Dennis Ritter; Norman Liberda; Rien Quirynen; Moritz Diehl (IEEE Trans. Control. Syst. Technol., 2018)

BLASFEO: Basic Linear Algebra Subroutines for Embedded Optimization. - Gianluca Frison; Dimitris Kouzoupis; Tommaso Sartor; Andrea Zanelli; Moritz Diehl (ACM Trans. Math. Softw., 2018)

Zero-Order Moving Horizon Estimation. - Katrin Baumgärtner; Andrea Zanelli; Moritz Diehl (CDC, 2019)

Local Convergence of Generalized Gauss-Newton and Sequential Convex Programming. - Moritz Diehl; Florian Messerer (CDC, 2019)

The Advanced Step Real Time Iteration for NMPC. - Armin Nurkanovic; Andrea Zanelli; Sebastian Albrecht 001; Moritz Diehl (CDC, 2019)

Optimal control of stacked multi-kite systems for utility-scale airborne wind energy. - Jochem De Schutter; Rachel Leuthold; Thilo Bronnenmeyer; Reinhart Paelinck; Moritz Diehl (CDC, 2019)

Spectrum Shaping Methods for Predictive Control Approaches Applied to a Grid-Connected Power Electronics Converter. - Benjamin Stickan; Per Rutquist; Tobias Geyer; Moritz Diehl (CDC, 2019)

Contraction Estimates for Abstract Real-Time Algorithms for NMPC. - Andrea Zanelli; Quoc Tran-Dinh; Moritz Diehl (CDC, 2019)

Detecting and Exploiting Generalized Nonlinear Static Feedback Structures in DAE Systems for MPC. - Jonathan Frey; Rien Quirynen; Dimitris Kouzoupis; Gianluca Frison; Jens Geisler; Axel Schild; Moritz Diehl (ECC, 2019)

Towards In-Field and Online Calibration of Inertial Navigation Systems using Moving Horizon Estimation. - Fabian Girrbach; Raymond Zandbergen; Manon Kok; Tijmen Hageman; Giovanni Bellusci; Moritz Diehl (ECC, 2019)

Efficient Zero-Order NMPC with Feasibility and Stability Guarantees. - Andrea Zanelli; Rien Quirynen; Moritz Diehl (ECC, 2019)

An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Freedom. - Tobias Schoels; Luigi Palmieri; Kai Oliver Arras; Moritz Diehl (CoRR, 2019)

A New Distribution-Free Concept for Representing, Comparing, and Propagating Uncertainty in Dynamical Systems with Kernel Probabilistic Programming. - Jia-Jie Zhu; Krikamol Muandet; Moritz Diehl; Bernhard Schölkopf (CoRR, 2019)

A homotopy-based moving horizon estimation. - Mohammad Abdollahpouri; Rien Quirynen; Mark Haring; Tor Arne Johansen; Gergely Takács; Moritz Diehl; Boris Rohal-Ilkiv (Int. J. Control, 2019)

CasADi: a software framework for nonlinear optimization and optimal control. - Joel A. E. Andersson; Joris Gillis; Greg Horn; James B. Rawlings; Moritz Diehl (Math. Program. Comput., 2019)

Real-Time Nonlinear Model Predictive Control for Microgrid Operation. - Armin Nurkanovic; Amer Mesanovic; Andrea Zanelli; Gianluca Frison; Jonathan Frey; Sebastian Albrecht 001; Moritz Diehl (ACC, 2020)

Zero-Order Optimization-Based Iterative Learning Control. - Katrin Baumgärtner; Moritz Diehl (CDC, 2020)

Worst-Case Risk Quantification under Distributional Ambiguity using Kernel Mean Embedding in Moment Problem. - Jia-Jie Zhu; Wittawat Jitkrittum; Moritz Diehl; Bernhard Schölkopf (CDC, 2020)

A Gradient Condition for the Arrival Cost in Moving Horizon Estimation. - Katrin Baumgärtner; Andrea Zanelli; Moritz Diehl (ECC, 2020)

Determining the Exact Local Convergence Rate of Sequential Convex Programming. - Florian Messerer; Moritz Diehl (ECC, 2020)

Limits of MPCC Formulations in Direct Optimal Control with Nonsmooth Differential Equations. - Armin Nurkanovic; Sebastian Albrecht 001; Moritz Diehl (ECC, 2020)

Adaptive compensation of measurement delays in multi-sensor fusion for inertial motion tracking using moving horizon estimation. - Fabian Girrbach; Manon Kok; Raymond Zandbergen; Tijmen Hageman; Moritz Diehl (FUSION, 2020)

An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay. - Barbara Barros Carlos; Tommaso Sartor; Andrea Zanelli; Gianluca Frison; Wolfram Burgard; Moritz Diehl; Giuseppe Oriolo (ICARCV, 2020)

Transferring Optimality Across Data Distributions via Homotopy Methods. - Matilde Gargiani; Andrea Zanelli; Quoc Tran-Dinh; Moritz Diehl; Frank Hutter (ICLR, 2020)

An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Avoidance. - Tobias Schoels; Luigi Palmieri; Kai O. Arras; Moritz Diehl (ICRA, 2020)

A Kernel Mean Embedding Approach to Reducing Conservativeness in Stochastic Programming and Control. - Jia-Jie Zhu; Bernhard Schölkopf; Moritz Diehl (L4DC, 2020)

Optimization-based primary and secondary control of microgrids. - Armin Nurkanovic; Amer Mesanovic; Mario Sperl; Sebastian Albrecht 001; Ulrich Münz; Rolf Findeisen; Moritz Diehl (Autom., 2020)

CIAO$^ star$: MPC-based Safe Motion Planning in Predictable Dynamic Environments. - Tobias Schoels; Per Rutquist; Luigi Palmieri; Andrea Zanelli; Kai O. Arras; Moritz Diehl (CoRR, 2020)

HPIPM: a high-performance quadratic programming framework for model predictive control. - Gianluca Frison; Moritz Diehl (CoRR, 2020)

On the Promise of the Stochastic Generalized Gauss-Newton Method for Training DNNs. - Matilde Gargiani; Andrea Zanelli; Moritz Diehl; Frank Hutter (CoRR, 2020)

Kernel Distributionally Robust Optimization. - Jia-Jie Zhu; Wittawat Jitkrittum; Moritz Diehl; Bernhard Schölkopf (CoRR, 2020)

Convergence Analysis of Homotopy-SGD for non-convex optimization. - Matilde Gargiani; Andrea Zanelli; Quoc Tran-Dinh; Moritz Diehl; Frank Hutter (CoRR, 2020)

TuneMPC - A Tool for Economic Tuning of Tracking (N)MPC Problems. - Jochem De Schutter; Mario Zanon; Moritz Diehl (IEEE Control. Syst. Lett., 2020)

Stochastic model predictive control of photovoltaic battery systems using a probabilistic forecast model. - Arne Groß; Christof Wittwer; Moritz Diehl (Eur. J. Control, 2020)

From linear to nonlinear MPC: bridging the gap via the real-time iteration. - Sébastien Gros; Mario Zanon; Rien Quirynen; Alberto Bemporad; Moritz Diehl (Int. J. Control, 2020)

The BLAS API of BLASFEO: Optimizing Performance for Small Matrices. - Gianluca Frison; Tommaso Sartor; Andrea Zanelli; Moritz Diehl (ACM Trans. Math. Softw., 2020)

Kernel Distributionally Robust Optimization: Generalized Duality Theorem and Stochastic Approximation. - Jia-Jie Zhu; Wittawat Jitkrittum; Moritz Diehl; Bernhard Schölkopf (AISTATS, 2021)

An Efficient Algorithm for Tube-based Robust Nonlinear Optimal Control with Optimal Linear Feedback. - Florian Messerer; Moritz Diehl (CDC, 2021)

Parameterization Approach of the Frenet Transformation for Model Predictive Control of Autonomous Vehicles. - Rudolf Reiter; Moritz Diehl (ECC, 2021)

Adaptive Control of Sinusoidal Optogenetic Stimulation. - Diego M. Vieira; Antje Kilias; Moritz Diehl; Carola A. Haas; Ulrich Egert (NER, 2021)

Electricity in the air: Insights from two decades of advanced control research and experimental flight testing of airborne wind energy systems. - Chris Vermillion; Mitchell Cobb; Lorenzo Fagiano; Rachel Leuthold; Moritz Diehl; Roy S. Smith; Tony A. Wood; Sebastian Rapp; Roland Schmehl; David J. Olinger; Michael A. Demetriou (Annu. Rev. Control., 2021)

A Lyapunov function for the combined system-optimizer dynamics in inexact model predictive control. - Andrea Zanelli; Quoc Tran-Dinh; Moritz Diehl (Autom., 2021)

Zero-order moving horizon estimation for large-scale nonlinear processes. - Katrin Baumgärtner; Jonathan Frey; Reza Hashemi; Moritz Diehl (Comput. Chem. Eng., 2021)

A Time-Freezing Approach for Numerical Optimal Control of Nonsmooth Differential Equations With State Jumps. - Armin Nurkanovic; Tommaso Sartor; Sebastian Albrecht 001; Moritz Diehl (IEEE Control. Syst. Lett., 2021)

Decentralized Optimization Over Tree Graphs. - Yuning Jiang 002; Dimitris Kouzoupis; Haoyu Yin; Moritz Diehl; Boris Houska (J. Optim. Theory Appl., 2021)

The Extended Gauss-Newton Method for Nonconvex Loss Functions and its Application to Time-Optimal Model Predictive Control. - Katrin Baumgärtner; Moritz Diehl (ACC, 2022)

A nonlinear Real-Time Pulse-Pattern MPC Scheme for Power-Electronics Circuits Operating in the Microseconds Range. - Benjamin Stickan; Gianluca Frison; Bruno Burger; Moritz Diehl (ACC, 2022)

Feature-Based Proposal Density Optimization for Nonlinear Model Predictive Path Integral Control. - Hannes Homburger; Stefan Wirtensohn; Moritz Diehl; Johannes Reuter (CCTA, 2022)

Moving Horizon Estimation with Adaptive Regularization for Ill-Posed State and Parameter Estimation Problems. - Katrin Baumgärtner; Rudolf Reiter; Moritz Diehl (CDC, 2022)

Fast Nonlinear Model Predictive Control using Barrier Formulations and Squashing with a Generalized Gauss-Newton Hessian. - Katrin Baumgärtner; Yizhen Wang; Andrea Zanelli; Moritz Diehl (CDC, 2022)

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)

Nonlinear MPC and MHE of a Gasoline Controlled Auto-Ignition Engine based on Reduced-Order Differential Equation Models. - Jochem De Schutter; Eugen Nuss; Katrin Baumgärtner; Dirk Abel; Moritz Diehl (CDC, 2022)

Introducing the quadratically-constrained quadratic programming framework in HPIPM. - Gianluca Frison; Jonathan Frey; Florian Messerer; Andrea Zanelli; Moritz Diehl (ECC, 2022)

Numerical Framework for the Field Oriented Economic Model Predictive Control of Permanent Magnet Synchronous Motors. - Daniel Geweth; Ulrich Vollmer; Moritz Diehl (ECC, 2022)

Mixed-Integer Optimal Control of a Residential Heating Network using Linear and Nonlinear Programming Techniques. - Manuel Kollmar; Lilli Frison; Adrian Bürger; Axel Oliva; Angelika Altmann-Dieses; Moritz Diehl (ECC, 2022)

An Inverse Optimal Control Approach for Trajectory Prediction of Autonomous Race Cars. - Rudolf Reiter; Florian Messerer; Markus Schratter; Daniel Watzenig; Moritz Diehl (ECC, 2022)

An Observer based Field Oriented Economic Model Predictive Control Approach for Permanent Magnet Synchronous Motors. - Daniel Geweth; Ulrich Vollmer; Moritz Diehl (MED, 2022)

NOS-NOC: A Software Package for Numerical Optimal Control of Nonsmooth Systems. - Armin Nurkanovic; Moritz Diehl (CoRR, 2022)

Safe Imitation Learning of Nonlinear Model Predictive Control for Flexible Robots. - Shamil Mamedov; Rudolf Reiter; Moritz Diehl; Jan Swevers (CoRR, 2022)

A Sequential Convex Programming Approach to Solving Quadratic Programs and Optimal Control Problems With Linear Complementarity Constraints. - Jonas Hall; Armin Nurkanovic; Florian Messerer; Moritz Diehl (IEEE Control. Syst. Lett., 2022)

Efficient Numerical Optimal Control for Highly Oscillatory Systems. - Jakob Harzer; Jochem De Schutter; Moritz Diehl (IEEE Control. Syst. Lett., 2022)

NOSNOC: A Software Package for Numerical Optimal Control of Nonsmooth Systems. - Armin Nurkanovic; Moritz Diehl (IEEE Control. Syst. Lett., 2022)

Continuous Optimization for Control of Hybrid Systems With Hysteresis via Time-Freezing. - Armin Nurkanovic; Moritz Diehl (IEEE Control. Syst. Lett., 2022)

acados - a modular open-source framework for fast embedded optimal control. - Robin Verschueren; Gianluca Frison; Dimitris Kouzoupis; Jonathan Frey; Niels van Duijkeren; Andrea Zanelli; Branimir Novoselnik; Thivaharan Albin; Rien Quirynen; Moritz Diehl (Math. Program. Comput., 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)

Continuous Control Set Nonlinear Model Predictive Control of Reluctance Synchronous Machines. - Andrea Zanelli; Julian Kullick; Hisham M. Eldeeb; Gianluca Frison; Christoph M. Hackl; Moritz Diehl (IEEE Trans. Control. Syst. Technol., 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)

Imitation Learning from Nonlinear MPC via the Exact Q-Loss and its Gauss-Newton Approximation. - Andrea Ghezzi; Jasper Hoffmann; Jonathan Frey; Joschka Boedecker; Moritz Diehl (CDC, 2023)

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)

An Efficient Method for the Joint Estimation of System Parameters and Noise Covariances for Linear Time-Variant Systems. - Léo Simpson; Andrea Ghezzi; Jonas Asprion; Moritz Diehl (CDC, 2023)

Local Convergence Analysis of Damping for Zero-Order Optimization-Based Iterative Learning Control. - Katrin Baumgärtner; Moritz Diehl (ECC, 2023)

A Unified Local Convergence Analysis of Differential Dynamic Programming, Direct Single Shooting, and Direct Multiple Shooting. - Katrin Baumgärtner; Florian Messerer; Moritz Diehl (ECC, 2023)

Locally Weighted Regression with Approximate Derivatives for Data-based optimization. - Leonardo Cecchin; Katrin Baumgärtner; Stefan Gering; Moritz Diehl (ECC, 2023)

Efficient Collision Modelling for Numerical Optimal Control. - Christian Dietz; Sebastian Albrecht 001; Armin Nurkanovic; Moritz Diehl (ECC, 2023)

Fast integrators with sensitivity propagation for use in CasADi. - Jonathan Frey; Jochem De Schutter; Moritz Diehl (ECC, 2023)

Collision-free Motion Planning for Mobile Robots by Zero-order Robust Optimization-based MPC. - Yunfan Gao; Florian Messerer; Jonathan Frey; Niels van Duijkeren; Moritz Diehl (ECC, 2023)

A Voronoi-Based Mixed-Integer Gauss-Newton Algorithm for MINLP Arising in Optimal Control. - Andrea Ghezzi; Léo Simpson; Adrian Bürger; Clemens Zeile; Sebastian Sager; Moritz Diehl (ECC, 2023)

A Hierarchical Approach for Strategic Motion Planning in Autonomous Racing. - Rudolf Reiter; Jasper Hoffmann; Joschka Boedecker; Moritz Diehl (ECC, 2023)

Direct Collocation for Numerical Optimal Control of Second-Order ODE. - Léo Simpson; Armin Nurkanovic; Moritz Diehl (ECC, 2023)

Observability of an Industrial Heating Process with Diffusion and Transportation. - Ruven Weiss; Moritz Diehl; Johannes Reuter (MMAR, 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)

Stability Analysis of Nonlinear Model Predictive Control With Progressive Tightening of Stage Costs and Constraints. - Katrin Baumgärtner; Andrea Zanelli; Moritz Diehl (IEEE Control. Syst. Lett., 2023)

A Dual-Control Effect Preserving Formulation for Nonlinear Output-Feedback Stochastic Model Predictive Control With Constraints. - Florian Messerer; Katrin Baumgärtner; Moritz Diehl (IEEE Control. Syst. Lett., 2023)

Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems. - Ricard Bordalba; Tobias Schoels; Lluís Ros; Josep M. Porta; Moritz Diehl (IEEE Trans. Robotics, 2023)

Stochastic Nonlinear Model Predictive Control for a Switched Photovoltaic Battery System. - Arne Groß; Bernhard Wille-Haussmann; Christof Wittwer; Benjamin Achzet; Moritz Diehl (IEEE Trans. Control. Syst. Technol., 2023)

A Gauss-Newton-based decomposition algorithm for Nonlinear Mixed-Integer Optimal Control Problems. - Adrian Bürger; Clemens Zeile; Angelika Altmann-Dieses; Sebastian Sager; Moritz Diehl (Autom., 2023)

A Modular Approach for Diesel Engine Air Path Control Based on Nonlinear MPC. - Severin Hänggi; Jonathan Frey; Stijn van Dooren; Moritz Diehl; Christopher Harald Onder (IEEE Trans. Control. Syst. Technol., 2023)

An implicit and explicit dual model predictive control formulation for a steel recycling process. - Andrea Ghezzi; Florian Messerer; Jacopo Balocco; Vincenzo Manzoni; Moritz Diehl (Eur. J. Control, 2023)

Dynamic soaring in wind turbine wakes. - Jakob Harzer; Jochem De Schutter; Moritz Diehl; Johan Meyers (Eur. J. Control, 2023)

Frenet-Cartesian model representations for automotive obstacle avoidance within nonlinear MPC. - Rudolf Reiter; Armin Nurkanovic; Jonathan Frey; Moritz Diehl (Eur. J. Control, 2023)

Vertical Airborne Wind Energy Farms with High Power Density per Ground Area based on Multi-Aircraft Systems. - Jochem De Schutter; Jakob Harzer; Moritz Diehl (Eur. J. Control, 2023)

The time-freezing reformulation for numerical optimal control of complementarity Lagrangian systems with state jumps. - Armin Nurkanovic; Sebastian Albrecht 001; Bernard Brogliato; Moritz Diehl (Autom., 2023)

Real-time prediction of human-generated reference signals for advanced digging control. - Leonardo Cecchin; Adrian Trachte; Lorenzo Fagiano; Moritz Diehl (CASE, 2024)

High Accuracy Numerical Optimal Control for Rigid Bodies with Patch Contacts through Equivalent Contact Points. - Christian Dietz; Armin Nurkanovic; Sebastian Albrecht 001; Moritz Diehl (CDC, 2024)

Real-Time-Feasible Collision-Free Motion Planning For Ellipsoidal Objects. - Yunfan Gao; Florian Messerer; Niels van Duijkeren; Boris Houska; Moritz Diehl (CDC, 2024)

Iterative Learning-Based Nonlinear Model Predictive Control of an Underactuated Autonomous Surface Vessel in Current Fields. - Hannes Homburger; Katrin Baumgärtner; Stefan Wirtensohn; Moritz Diehl; Johannes Reuter (CDC, 2024)

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

MPC4RL - A Software Package for Reinforcement Learning based on Model Predictive Control. - Dirk Reinhardt; Katrin Baumgärtner; Jonathan Frey; Moritz Diehl; Sebastien Gros (CDC, 2024)

Parallelizable Parametric Nonlinear System Identification via tuning of a Moving Horizon State Estimator. - Léo Simpson; Jonas Asprion; Simon Muntwiler; Johannes Köhler 001; Moritz Diehl (CDC, 2024)

Efficient Zero-Order Robust Optimization for Real-Time Model Predictive Control with acados. - Jonathan Frey; Yunfan Gao; Florian Messerer; Amon Lahr; Melanie N. Zeilinger; Moritz Diehl (ECC, 2024)

Energy-Optimal Planning and Shrinking Horizon MPC for Vessel Docking in River Current Fields. - Hannes Homburger; Stefan Wirtensohn; Moritz Diehl; Johannes Reuter (ECC, 2024)

Progressive Smoothing for Motion Planning in Real-Time NMPC. - Rudolf Reiter; Katrin Baumgärtner; Rien Quirynen; Moritz Diehl (ECC, 2024)

Safe Imitation Learning of Nonlinear Model Predictive Control for Flexible Robots. - Shamil Mamedov; Rudolf Reiter; Seyed Mahdi B. Azad; Ruan Viljoen; Joschka Boedecker; Moritz Diehl; Jan Swevers (IROS, 2024)

Model Predictive Control for Frenet-Cartesian Trajectory Tracking of a Tricycle Kinematic Automated Guided Vehicle. - Akash Subash; Daniel Kloeser; Jonathan Frey; Rudolf Reiter; Moritz Diehl; Karsten Bohlmann (IROS, 2024)

Modeling Battery Aging for Optimal Control. - Ricarda Hogl; Arne Groß; Jakob Harzer; Nils Reiners; Moritz Diehl (ISGT EUROPE, 2024)

Fast System Level Synthesis: Robust Model Predictive Control using Riccati Recursions. - Antoine P. Leeman; Johannes Köhler 001; Florian Messerer; Amon Lahr; Moritz Diehl; Melanie N. Zeilinger (CoRR, 2024)

Decentralized real-time iterations for distributed nonlinear model predictive control. - Gösta Stomberg; Alexander Engelmann; Moritz Diehl; Timm Faulwasser (CoRR, 2024)

A Long-Short-Term Mixed-Integer Formulation for Highway Lane Change Planning. - Rudolf Reiter; Armin Nurkanovic; Daniele Bernadini; Moritz Diehl; Alberto Bemporad (CoRR, 2024)

AC4MPC: Actor-Critic Reinforcement Learning for Nonlinear Model Predictive Control. - Rudolf Reiter; Andrea Ghezzi; Katrin Baumgärtner; Jasper Hoffmann; Robert D. McAllister; Moritz Diehl (CoRR, 2024)

Stochastic Model Predictive Control with Optimal Linear Feedback for Mobile Robots in Dynamic Environments. - Yunfan Gao; Florian Messerer; Niels van Duijkeren; Moritz Diehl (CoRR, 2024)

L4acados: Learning-based models for acados, applied to Gaussian process-based predictive control. - Amon Lahr; Joshua Näf; Kim Peter Wabersich; Jonathan Frey; Pascal Siehl; Andrea Carron; Moritz Diehl; Melanie N. Zeilinger (CoRR, 2024)

Advanced-Step Real-Time Iterations With Four Levels - New Error Bounds and Fast Implementation in acados. - Jonathan Frey; Armin Nurkanovic; Moritz Diehl (IEEE Control. Syst. Lett., 2024)

Fast Generation of Feasible Trajectories in Direct Optimal Control. - David Kiessling; Katrin Baumgärtner; Jonathan Frey; Wilm Decré; Jan Swevers; Moritz Diehl (IEEE Control. Syst. Lett., 2024)

Fourth-Order Suboptimality of Nominal Model Predictive Control in the Presence of Uncertainty. - Florian Messerer; Katrin Baumgärtner; Sergio Lucia; Moritz Diehl (IEEE Control. Syst. Lett., 2024)

Gauss-Newton Runge-Kutta integration for efficient discretization of optimal control problems with long horizons and least-squares costs. - Jonathan Frey; Katrin Baumgärtner; Moritz Diehl (Eur. J. Control, 2024)

Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control. - Alessandro Saviolo; Jonathan Frey; Abhishek Rathod; Moritz Diehl; Giuseppe Loianno (IEEE Trans. Robotics, 2024)

Cooperative Eco-Driving Control of Connected Multi-Vehicles With Spatio-Temporal Constraints. - Shiying Dong; Jakob Harzer; Jonathan Frey; Xiangyu Meng 001; Qifang Liu; Bingzhao Gao; Moritz Diehl; Hong Chen 003 (IEEE Trans. Intell. Veh., 2024)

Finite Elements with Switch Detection for direct optimal control of nonsmooth systems. - Armin Nurkanovic; Mario Sperl; Sebastian Albrecht 001; Moritz Diehl (Numerische Mathematik, 2024)

A Long-Short-Term Mixed-Integer Formulation for Highway Lane Change Planning. - Rudolf Reiter; Armin Nurkanovic; Daniele Bernardini 001; Moritz Diehl; Alberto Bemporad (IEEE Trans. Intell. Veh., 2024)

Numerical Trajectory Optimization of Airborne Wind Energy Systems With Stroboscopic Averaging Methods. - Jakob Harzer; Jochem De Schutter; Moritz Diehl (IEEE Control. Syst. Lett., 2025)

Optimality and Suboptimality of MPPI Control in Stochastic and Deterministic Settings. - Hannes Homburger; Florian Messerer; Moritz Diehl; Johannes Reuter (IEEE Control. Syst. Lett., 2025)

Oscillation Compensation in On-the-Fly Laser Processing via Optical Tracking Sensors. - Georg Hoppe; Jale Schneider; Jan Frederik Nekarda; Ralf Preu; Fabian Meyer; Moritz Diehl (IEEE Trans Autom. Sci. Eng., 2025)

MPC4RL - A Software Package for Reinforcement Learning based on Model Predictive Control. - Dirk Reinhardt; Katrin Baumgärnter; Jonathan Frey; Moritz Diehl; Sebastien Gros (CoRR, 2025)

Solgenia - A Test Vessel Toward Energy-Efficient Autonomous Water Taxi Applications. - Hannes Homburger; Stefan Wirtensohn; Patrick Hoher; Tim Baur; Dennis Grießer; Moritz Diehl; Johannes Reuter (CoRR, 2025)

Synthesis of Model Predictive Control and Reinforcement Learning: Survey and Classification. - Rudolf Reiter; Jasper Hoffmann; Dirk Reinhardt; Florian Messerer; Katrin Baumgärtner; Shamburaj Sawant; Joschka Boedecker; Moritz Diehl; Sebastien Gros (CoRR, 2025)

Integration Error Regularization in Direct Optimal Control using Embedded Runge Kutta Methods. - Jakob Harzer; Jochem De Schutter; Moritz Diehl (CoRR, 2025)

Distributed AC Optimal Power Flow: A Scalable Solution for Large-Scale Problems. - Xinliang Dai; Yuning Jiang 002; Yi Guo 006; Colin N. Jones; Moritz Diehl; Veit Hagenmeyer (CoRR, 2025)

LCQPow: a solver for linear complementarity quadratic programs. - Jonas Hall; Armin Nurkanovic; Florian Messerer; Moritz Diehl (Math. Program. Comput., 2025)

Real-Time NMPC With Convex-Concave Constraints and Application to Eco-Driving. - Shiying Dong; Andrea Ghezzi; Jakob Harzer; Jonathan Frey; Bingzhao Gao; Hong Chen 003; Moritz Diehl (IEEE Trans. Control. Syst. Technol., 2025)

A Comparative Study of MINLP and MPVC Formulations for Solving Complex Nonlinear Decision-Making Problems in Aerospace Applications. - Andrea Ghezzi; Armin Nurkanovic; Avishai Weiss; Moritz Diehl; Stefano Di Cairano (CoRR, 2025)

Differentiable Nonlinear Model Predictive Control. - Jonathan Frey; Katrin Baumgärtner; Gianluca Frison; Dirk Reinhardt; Jasper Hoffmann; Leonard Fichtner; Sebastien Gros; Moritz Diehl (CoRR, 2025)

A detailed simulation model for fifth generation district heating and cooling networks with seasonal latent storage evaluated on field data. - Manuel Kollmar; Adrian Bürger; Markus Bohlayer; Angelika Altmann-Dieses; Marco Braun; Moritz Diehl (CoRR, 2025)

Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning. - Rudolf Reiter; Rien Quirynen; Moritz Diehl; Stefano Di Cairano (IEEE Trans. Control. Syst. Technol., 2025)

Semi-Infinite Programming for Collision-Avoidance in Optimal and Model Predictive Control. - Yunfan Gao; Florian Messerer; Niels van Duijkeren; Rashmi Dabir; Moritz Diehl (CoRR, 2025)