Modeling and torque estimation of an automotive Dual Mass Flywheel. - Ulf Schaper; Oliver Sawodny; Tobias Mahl; Uti Blessing (ACC, 2009)

Constrained real-time model-predictive reference trajectory planning for rotary cranes. - Ulf Schaper; Eckhard Arnold; Oliver Sawodny; Klaus Schneider 003 (AIM, 2013)

Observer design and flatness-based feedforward control with model predictive trajectory planning of a crane rotator. - Daniel Bauer; Ulf Schaper; Klaus Schneider 003; Oliver Sawodny (ACC, 2014)