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Control of Constrained Hybrid Systems

List of Publications

AUTHOR TITLE JOURNAL/CONFERENCE YEAR
(01)Article
D. Frick, T. A. Wood, G. Ulli, M. Kamgarpour Robust Control Policies Given Formal Specifications in Uncertain Environments IEEE Control Systems Letters, vol. 1, no. 1, pp. 20-25 Jul 2017
A.B. Hempel, P.J. Goulart, J. Lygeros A Necessary Optimality Condition for Constrained Optimal Control of Hybrid Systems IEEE Conference on Decision and Control, Osaka, JP, pp. 5272-5277 Dec 2015
M. Herceg, C. Jones, M. Morari Dominant speed factors of active set methods for fast MPC Optimal Control Applications and Methods, vol. 36, no. 5, pp. 608–627 Sep 2015
A. Filieri, M. Maggio, A.B. Hempel Software Engineering Meets Control Theory International Symposium on Software Engineering for Adaptive and Self-Managing Systems May 2015
A.B. Hempel, P.J. Goulart, J. Lygeros Inverse Parametric Optimization with an Application to Hybrid System Control IEEE Transactions on Automatic Control, vol. 60, no. 4, pp. 1064-1069 Apr 2015
A.B. Hempel, P.J. Goulart A Novel Method for Modelling Cardinality and Rank Constraints IEEE Conference on Decision and Control, Los Angeles, USA, pp. 4322-4327 Dec 2014
M.N. Zeilinger, D. M. Raimondo, A. Domahidi, M. Morari, C.N. Jones On real-time robust model predictive control Automatica, vol. 50, no. 3, pp. 683–694 Mar 2014
S. Grammatico, F. Blanchini, A. Caiti Control-sharing and merging control Lyapunov functions IEEE Transactions on Automatic Control Jan 2014
S. Grammatico, G. Pannocchia Achieving a large domain of attraction with short-horizon linear MPC via polyhedral Lyapunov functions European Control Conference (ECC), Zurich, Switzerland Jul 2013
A.B. Hempel, P.J. Goulart, J. Lygeros Every Continuous Piecewise Affine Function Can Be Obtained by Solving a Parametric Linear Program European Control Conference (ECC), Zurich, Switzerland, pp. 2657-2662 Jul 2013
S. Grammatico, F. Blanchini, A. Caiti A universal class of non-homogeneous control Lyapunov functions for linear differential inclusions European Control Conference (ECC), Zurich, Switzerland Jul 2013
M. Herceg, S. Mariéthoz, M. Morari Evaluation of piecewise affine control law via graph traversal European Control Conference (ECC), Zurich, Switzerland, pp. 3083--3088 Jul 2013
M. Herceg, M. Kvasnica, C. Jones, M. Morari Multi-Parametric Toolbox 3.0 European Control Conference (ECC), Zurich, Switzerland, pp. 502--510 Jul 2013
S. Grammatico, F. Blanchini, A. Caiti Further results on merging control Lyapunov functions for linear differential inclusions Mediterranean Conference on Control and Automation, Chania, Greece Jun 2013
A.B. Hempel, P.J. Goulart, J. Lygeros Inverse Parametric Quadratic Programming and an Application to Hybrid Control Nonlinear Model Predictive Control, Noordwijkerhout, NL, pp. 68-73 Aug 2012
Jean-Hubert Hours, M.N. Zeilinger, R. Gondhalekar, C.N. Jones Spectrogram-MPC: Enforcing hard constraints on systems' output spectra American Control Conference, Montreal, Canada Jul 2012
A.B. Hempel, Andreas B. Kominek, Herbert Werner Output-Feedback Controlled-Invariant Sets for Systems with Linear Parameter-Varying State Transition Matrix Conference on Decision and Control (CDC), Orlando, USA, pp. 3422-3427 Dec 2011
A. Domahidi, M.N. Zeilinger, M. Morari, C.N. Jones Learning a Feasible and Stabilizing Explicit Model Predictive Control Law by Robust Optimization IEEE Conference on Decision and Control, Orlando, FL, USA, pp. 513-519 Dec 2011
U. Mäder, M. Morari, T. Baumgartner Trajectory Prediction for Light Aircraft Journal of Guidance, Control and Dynamics, vol. 34, no. 4, pp. 1112-1119, Proceedings IEEE/AIAA 28th Digital Avionics Systems Conference, 23 - 29 October 2009, Orlando, Florida Aug 2011
M.N. Zeilinger, C.N. Jones, M. Morari Real-time suboptimal Model Predictive Control using a combination of Explicit MPC and Online Optimization IEEE Transactions on Automatic Control, vol. 56, pp. 1524 - 1534 Jul 2011
U. Mäder, M. Morari Attitude Estimation for Vehicles With Partial Inertial Measurement IEEE Transactions on Vehicular Technology, vol. 60, no. 4, pp. 1496-1504 May 2011
C.N. Jones, Jorge Goncalves A Cost-Effective Atomic Force Microscope for Undergraduate Control Laboratories IEEE Transactions on Education, To appear 2010
A. Fuchs, D. Axehill, M. Morari On the choice of the Linear Decision Functions for Point Location in Polytopic Data Sets - Application to Explicit MPC IEEE Conference on Decision and Control, Atlanta, USA, pp. 5283-5288 Dec 2010
D. Axehill, M. Morari Improved Complexity Analysis of Branch and Bound for Hybrid MPC IEEE Conference on Decision and Control, Atlanta, USA, pp. 4216-4222 Dec 2010
A. Abate, J.-P. Katoen, J. Lygeros, M. Prandini Approximate model checking of stochastic hybrid systems European Journal of Control, vol. 16, pp. 624–641 Dec 2010
M. Prandini, J. Lygeros Stochastic hybrid systems: A powerful framework for complex, large scale applications European Journal of Control, vol. 16, pp. 583–594 Dec 2010
M.N. Zeilinger, C.N. Jones, M. Morari Robust stability properties of soft constrained MPC IEEE Conference on Decision and Control, Atlanta, GA Dec 2010
C.N. Jones, M. Morari Polytopic Approximation of Explicit Model Predictive Controllers IEEE Transactions on Automatic Control, vol. 55, no. 11, pp. 2542-2553 Nov 2010
K. Nolde, M. Morari Electrical Load Tracking Scheduling of a Steel Plant Computers & Chemical Engineering, vol. 34, no. 8, pp. 1899-1903 Nov 2010
M. Rubagotti, D. M. Raimondo, C.N. Jones, Lalo Magni, Antonella Ferrara, M. Morari A Nonlinear Model Predictive Control Scheme with Multirate Integral Sliding Mode 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2010) Sep 2010
A. Fuchs, C.N. Jones, M. Morari Optimized Decision Trees for Point Location in Polytopic Data Sets - Application to Explicit MPC American Control Conference, Baltimore, USA, pp. 5507 - 5512 Jun 2010
J. Kralova, M. Herceg Control of a thermal system: an application study 10th International Confererence PROCESS CONTROL 2010, Kouty nad Desnou, Czech Republic, pp. C089a-1-C089a-11 Jun 2010
C. Grossmann, C.N. Jones, M. Morari System identification via nuclear norm regularization for simulated moving bed processes from incomplete data sets Conference on Decision and Control (CDC), Shanghai, China Dec 2009
M.N. Zeilinger, C.N. Jones, D. M. Raimondo, M. Morari Real-time MPC - Stability through Robust MPC design IEEE Conference on Decision and Control, Shanghai, China Dec 2009
Th. Besselmann, J. Löfberg, M. Morari Constrained Time Optimal Control of Linear Parameter-Varying Systems IEEE Conference on Decision and Control, Shanghai, China Dec 2009
M. Morari, U. Mäder, F. Borrelli Linear Offset-Free Model Predictive Control Automatica, vol. 45, no. 10, pp. 2214-2222 Oct 2009
T. Baumgartner, U. Mäder Trajectory Prediction for Low-Cost Collision Avoidance Systems 28th Digital Avionics Systems Conference, vol. 1, no. C Oct 2009
C.N. Jones, M. Morari Approximate Explicit MPC using Bilevel Optimization European Control Conference (ECC), Budapest, Hungary Aug 2009
Th. Besselmann, M. Morari Autonomous Vehicle Steering Using Explicit LPV-MPC European Control Conference (ECC), Budapest, Hungary, pp. 2628-2633 Aug 2009
M. Laurent, J.B. Lasserre, Ph. Rostalski A prolongation–projection algorithm for computing the finite real variety of an ideal Theoretical Computer Science, vol. 410, no. 27-29, pp. 2685-2700, Keywords: Real solving; Finite real variety; Numerical algebraic geometry; Semidefinite optimization Jul 2009
Th. Besselmann, J. Löfberg, M. Morari Explicit LPV-MPC with Bounded Rate of Parameter Variation IFAC Symposium on Robust Control Design, Haifa, Israel Jun 2009
Th. Besselmann, M. Morari Hybrid Parameter-Varying MPC for Autonomous Vehicle Steering European Journal of Control, vol. 14, no. 5, pp. 418 - 431 2008
M.N. Zeilinger, C.N. Jones, M. Morari Real-time suboptimal Model Predictive Control using a combination of Explicit MPC and Online Computation IEEE Conference on Decision and Control, Cancun, Mexico Dec 2008
C.N. Jones, M. Morari The Double Description Method for the Approximation of Explicit MPC Control Laws Conference on Decision and Control (CDC), Cancun, Mexico Dec 2008
Th. Besselmann, J. Löfberg, M. Morari Explicit MPC for LPV systems IEEE Conference on Decision and Control, Cancun, Mexico Dec 2008
J.B. Lasserre, M. Laurent, Ph. Rostalski Semidefinite Characterization and Computation of Real Radical Ideals Foundations of Computational Mathematics, vol. 8, no. 5, pp. 607-647, MSC-class: 14P05; 13P10 (primary); 12E12; 12D10; 90C22 (secondary) Sep 2008
Th. Besselmann, J. Löfberg, M. Morari Explicit MPC for systems with linear parameter-varying state transition matrix IFAC World Congress, Seoul, Korea, pp. 13163-13168 Jul 2008
M. Baric, Sasa V. Rakovic, Th. Besselmann, M. Morari Max-Min Optimal Control of Constrained Discrete-Time Systems IFAC World Congress, Seoul, Korea, pp. 8803 - 8808 Jul 2008
K. Nolde, M. Uhr, M. Morari Medium term scheduling of a hydro-thermal system using stochastic model predictive control Automatica, vol. 44, no. 6, pp. 1585-1594 Jun 2008
D. J. Bates, A.G. Beccuti, I.A. Fotiou, M. Morari An Optimal Control Application in Power Systems Using Numerical Algebraic Geometry American Control Conference, Seattle, WA Jun 2008
C.N. Jones, E.C. Kerrigan, Jan M. Maciejowski On Polyhedral Projection and Parametric Programming Journal of Optimization Theory and Applications, vol. 138, no. 2 Apr 2008
K. Nolde, M. Uhr, M. Morari Medium Term Production Scheduling of a Hydro-thermal System under Uncertainty using Nested Benders Decomposition Automatisierungstechnik, vol. 56, no. 4, pp. 189-196 Apr 2008
M. Laurent, J.B. Lasserre, Ph. Rostalski Computing the real variety of an ideal - A real algebraic and symbolicnumeric algorithm Annual ACM Symposium on Applied Computing, Fortaleza, Ceará, Brazil Mar 2008
M. Baric, P. Grieder, M. Baotic, M. Morari An efficient algorithm for optimal control of PWA systems with polyhedral performance indices Automatica, vol. 44, no. 1, pp. 296--301 Jan 2008
D. J. Bates, I.A. Fotiou, Ph. Rostalski A numerical algebraic geometry approach to nonlinear constrained optimal control IEEE Conference on Decision and Control, New Orleans, LA Dec 2007
F.J. Christophersen, M.N. Zeilinger, C.N. Jones, M. Morari Controller Complexity Reduction for Piecewise Affine Systems Through Safe Region Elimination IEEE Conference on Decision and Control, New Orleans, USA Dec 2007
U. Mäder, M. Morari Offset-Free Reference Tracking for Predictive Controllers IEEE Conference on Decision and Control, New Orleans, USA Dec 2007
Ph. Rostalski, Th. Besselmann, M. Baric, Femke von Belzen, M. Morari A Hybrid Approach to Modeling, Control and State estimation of Mechanical Systems with Backlash International Journal of Control, vol. 80, no. 11, pp. 1729-1740, Special Issue on "Automotive Systems and Control" Nov 2007
C.N. Jones, Jan M. Maciejowski, E.C. Kerrigan Lexicographic Perturbation for Multiparametric Linear Programming with Applications to Control Automatica, vol. 43, no. 10, pp. 1808-1816 Oct 2007
Mircea Lazar, W.P.M.H. Heemels, G. Papafotiou, M. Morari Assessment of Nonlinear Predictive Control Techniques for dc-dc Converters IFAC Nonlinear Control Design Symposium, Pretoria, South Africa Aug 2007
F.J. Christophersen, M. Kvasnica, C.N. Jones, M. Morari Efficient Evaluation of Piecewise Control Laws defined over a Large Number of Polyhedra European Control Conference (ECC), Kos, Greece Jul 2007
Th. Besselmann, Ph. Rostalski, M. Morari Hybrid Parameter-Varying Model Predictive Control for Lateral Vehicle Stabilization European Control Conference (ECC), Kos, Greece Jul 2007
A.G. Beccuti, T. Demiray, M. Zima, G. Andersson, M. Morari Comparative Assessment of Prediction Models in Voltage Control IEEE Powertech, Power System Technology, Lausanne, Switzerland Jul 2007
U. Mäder, R. Cagienard, M. Morari Explicit Model Predictive Control Lecture Notes in Control and Information Sciences (LNCIS), vol. 346, Advanced Strategies in Control Systems with Input and Output Constraints, pp. 237 - 271, edited by Sophie Tarbouriech, Germain Garcia, Adolf H. Glattfelder Jul 2007
R. Cagienard, P. Grieder, E. Kerrigan, M. Morari Move Blocking Strategies in Receding Horizon Control Journal of Process Control, vol. 17, no. 6, pp. 563-570 Jul 2007
I.A. Fotiou, A.G. Beccuti, M. Morari An Optimal Control Application in Power Electronics Using Algebraic Geometry European Control Conference (ECC), Kos, Greece, pp. 475-482 Jul 2007
F.J. Christophersen, M. Morari Further Results on `Infinity Norms as Lyapunov Functions for Linear Systems' IEEE Transactions on Automatic Control, vol. 52, no. 3, pp. 547--553 Mar 2007
C.N. Jones, M. Baric, M. Morari Multiparametric Linear Programming with Applications to Control European Journal of Control, vol. 13, no. 2-3, pp. 152-170 Mar 2007
M. Baotic, F.J. Christophersen, M. Morari Constrained Optimal Control of Hybrid Systems with a Linear Performance Index IEEE Transactions on Automatic Control, vol. 51, no. 12, pp. 1903--1919 Dec 2006
C.N. Jones, P. Grieder, S. Rakovic A Logarithmic-Time Solution to the Point Location Problem for Parametric Linear Programming Automatica, vol. 42, no. 12, pp. 2215-2218 Dec 2006
C.N. Jones, M. Morari Multiparametric Linear Complementarity Problems IEEE Conference on Decision and Control Dec 2006
M. Baric, C.N. Jones, M. Morari Parametric Analysis of Controllers for Constrained Linear Systems IEEE Conference on Decision and Control, San Diego, CA, USA, pp. 4514--4519 Dec 2006
C.N. Jones, Jan M. Maciejowski Reverse Search for Parametric Linear Programming IEEE Conference on Decision and Control Dec 2006
I.A. Fotiou, Ph. Rostalski, P.A. Parrilo, M. Morari Parametric Optimization and Optimal Control using Algebraic Geometry Methods International Journal of Control, vol. 79, no. 11, pp. 1340-1358 Nov 2006
K. Nolde, S. Panke Schaltungsentwurf auf DNA-Ebene Bulletin SEV/VSE, vol. 97, no. 19, pp. 25-29 Sep 2006
C.N. Jones, Jan M. Maciejowski Primal-Dual Enumeration for Multiparametric Linear Programming International Congress on Mathematical Software, Castro Urdiales, Spain, Also available as a book chapter in Lecture Notes in Computer Science, Volume 4151/2006 http://www.springerlink.com/content/gk25357585uh2p53/ Sep 2006
M. Morari, M. Baric Recent developments in the control of constrained hybrid systems Computers & Chemical Engineering, vol. 30, no. 10--12, pp. 1619–1631 Sep 2006
M.N. Zeilinger, E.M. Farre, S.R. Taylor, S.A. Kay, F.J. Doyle A novel computational model of the circadian clock in Arabidopsis that incorporates PRR7 and PRR9 Molecular Systems Biology, vol. 2, no. 58 Sep 2006
G. Papafotiou, M. Morari Optimal Control of the Parallel Interleaved Buck dc-dc Converter IEEE Workshop on Computers in Power Electronics (COMPEL), Troy, New York,USA Jul 2006
I.A. Fotiou, Ph. Rostalski, B. Sturmfels, M. Morari An algebraic geometry approach to nonlinear parametric optimization in control American Control Conference, Minneapolis, MN, pp. 3618-3623 Jun 2006
G. Lichtenberg, Ph. Rostalski Using Path Integral Short Time Propagators for Numerical Analysis of Stochastic Hybrid Systems IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) Jun 2006
A.G. Beccuti, M. Morari A Distributed Solution Approach To Centralized Emergency Voltage Control American Control Conference, Minneapolis, Minnesota, USA Jun 2006
A.G. Beccuti, G. Papafotiou, M. Morari Explicit model predictive control of the boost dc-dc converter IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), Alghero, Italy Jun 2006
I.A. Fotiou, A.G. Beccuti, G. Papafotiou, M. Morari Optimal Control of Piece-wise Polynomial Hybrid Systems Using Cylindrical Algebraic Decomposition HSCC (Hybrid Systems: Computation and Control ), Santa Barbara, CA, vol. 3927/2006, pp. 227-241 Mar 2006
T. Geyer, G. Papafotiou, M. Morari Model Predictive Control in Power Electronics: A Hybrid Systems Approach IEEE Conference on Decision and Control, Seville, Spain, Invited paper in the tutorial session "Hybrid Control of Networked Embedded Systems". Dec 2005
A.G. Beccuti, T. Geyer, M. Morari A Hybrid System Approach to Power Systems Voltage Control IEEE Conference on Decision and Control, Seville, Spain Dec 2005
I.A. Fotiou, P.A. Parrilo, M. Morari Nonlinear Parametric Optimization Using Cylindrical Algebraic Decomposition IEEE Conference on Decision and Control, Seville, Spain, pp. 3735-3740 Dec 2005
A.G. Beccuti, G. Papafotiou, M. Morari Optimal Control of the Boost dc-dc Converter IEEE Conference on Decision and Control, Seville, Spain Dec 2005
A. Balluchi, L. Benvenuti, S. Engell, T. Geyer, K. H. Johansson, F. Lamnabhi-Lagarrigue, J. Lygeros, M. Morari, G. Papafotiou, A. L. Sangiovanni-Vincentelli, F. Santucci, O. Stursberg Hybrid control of networked embedded systems European Journal of Control, no. 11, pp. 1-31 (478-508), Special issue on fundamental issues in control, Invited paper Dec 2005
M. Baric, M. Baotic, M. Morari On-line Tuning of Controllers for Systems with Constraints IEEE Conference on Decision and Control, Sevilla, Spain, pp. 8288-8293 Dec 2005
F. Borrelli, M. Baotic, A. Bemporad, M. Morari Dynamic programming for constrained optimal control of discrete-time linear hybrid systems Automatica, vol. 41, pp. 1709-1721 Oct 2005
F.J. Christophersen, M. Baotic, M. Morari Optimal Control of Piecewise Affine Systems: A Dynamic Programming Approach Lecture Notes in Control and Information Sciences (LNCIS), vol. 322, pp. 183--198, "Control and Observer Design for Nonlinear Finite and Infinite Dimensional Systems"
Editors: Thomas Meurer, Knut Graichen, Ernst Dieter Gilles
Sep 2005
C.N. Jones, P. Grieder, S. Rakovic A Logarithmic-Time Solution to the Point Location Problem for Closed-Form Linear MPC IFAC World Congress, Prague, Czech Republic Jul 2005
L. F. S. Larsen, T. Geyer, M. Morari Hybrid Model Predictive Control in Supermarket Refrigeration Systems IFAC World Congress, Prague, Czech Republic Jun 2005
Gabriela Glanzmann, Martin von Siebenthal, T. Geyer, G. Papafotiou, M. Morari Supervisory Water Level Control for Cascaded River Power Plants International Conference on Hydropower, Stavanger, Norway May 2005
F.J. Christophersen, M. Baotic, M. Morari Stability Analysis of Hybrid Systems with a Linear Performance Index IEEE Conference on Decision and Control, Atlantis, Paradise Island, Bahamas, pp. 4589-4594 Dec 2004
R. Suard, J. Löfberg, P. Grieder, M. Kvasnica, M. Morari Efficient Computation of Controller Partitions in Multi-Parametric Programming IEEE Conference on Decision and Control, Bahamas, pp. 3643-3648 Dec 2004
S. Rakovic, P. Grieder, M. Kvasnica, D. Mayne, M. Morari Computation of Invariant Sets for Piecewise Affine Discrete Time Systems subject to Bounded Disturbances IEEE Conference on Decision and Control, Bahamas, pp. 1418-1423 Dec 2004
A.G. Beccuti, T. Geyer, M. Morari Temporal Lagrangian Decomposition of Model Predictive Control for Hybrid Systems IEEE Conference on Decision and Control, Atlantis, Bahamas Dec 2004
G. Papafotiou, T. Geyer, M. Morari Optimal Direct Torque Control of Three-Phase Symmetric Induction Motors IEEE Conference on Decision and Control, Atlantis, Bahamas Dec 2004
R. Cagienard, P. Grieder, E.C. Kerrigan, M. Morari Move Blocking Strategies in Receding Horizon Control IEEE Conference on Decision and Control, Paradise Island, Bahamas, pp. 2023-2028 Dec 2004
G. Papafotiou, T. Geyer, M. Morari Hybrid Modelling and Optimal Control of Switch-mode DC-DC Converters IEEE Workshop on Computers in Power Electronics (COMPEL), Champaign, IL, USA Aug 2004
P. Grieder, M. Kvasnica, M. Baotic, M. Morari Low Complexity Control of Piecewise Affine Systems with Stability Guarantee American Control Conference, Boston, Massachusetts. Jun 2004
P. Grieder, Z. Wan, M. Kothare, M. Morari Two Level Model Predictive Control for the Maximum Control Invariant Set American Control Conference, Boston, Massachusetts. Jun 2004
T. Geyer, F.D. Torrisi, M. Morari Optimal Complexity Reduction of Piecewise Affine Models Based on Hyperplane Arrangements American Control Conference, Boston, Massachusetts, pp. 1190 - 1195 Jun 2004
M. Vasak, M. Baotic, I. Petrovic, N. Peric Electronic throttle state estimation and hybrid theory based optimal control Ajaccio, France, International Symposium on Industrial Electronics, ISIE 2004 May 2004
P. Grieder, F. Borrelli, F.D. Torrisi, M. Morari Computation of the constrained infinite time linear quadratic regulator Automatica, vol. 40, no. 4, pp. 701-708 Apr 2004
M. Kvasnica, P. Grieder, M. Baotic, M. Morari Multi-Parametric Toolbox (MPT) HSCC (Hybrid Systems: Computation and Control ), vol. 2993, pp. 448-462, Lecture Notes in Computer Science Mar 2004
F.D. Torrisi, A. Bemporad HYSDEL --- A tool for generating computational hybrid models for analysis and synthesis problems IEEE Transactions on Control Systems Technology, vol. 12, pp. 235-249 Mar 2004
M. Morari, M. Baotic, F. Borrelli Hybrid Systems Modeling and Control European Journal of Control, vol. 9, no. 2-3, pp. 177-189 2003
M. Baotic, F.J. Christophersen, M. Morari Infinite Time Optimal Control of Hybrid Systems with a Linear Performance Index IEEE Conference on Decision and Control, Maui, Hawaii, USA, pp. 3191-3196 Dec 2003
P. Grieder, P.A. Parrilo, M. Morari Robust Receding Horizon Control - Analysis & Synthesis IEEE Conference on Decision and Control, Maui, Hawaii, pp. 941-946 Dec 2003
P. Grieder, M. Morari Complexity Reduction of Receding Horizon Control IEEE Conference on Decision and Control, Maui, Hawaii, pp. 3179-3184 Dec 2003
P. Grieder, M. Morari, A. Bemporad Correction Note - The Explicit Linear Quadratic Regulator for Constrained Systems Automatica, vol. 39, no. 10, pp. 1845-1846 Oct 2003
V. Sakizlis, E.N. Pistikopoulos, T. Geyer, M. Morari The Equivalence of the Anti-windup Control Design and the Explicit Model-based Parametric Controller European Control Conference (ECC), Cambridge Sep 2003
T. Geyer, M. Larsson, M. Morari Hybrid Emergency Voltage Control in Power Systems European Control Conference (ECC), Cambridge Sep 2003
P. Grieder, M. Lühti, P.A. Parrilo, M. Morari Stability & Feasibility of Constrained Receding Horizon Control European Control Conference (ECC), Cambridge, UK Sep 2003
M. Baotic, F.J. Christophersen, M. Morari A new Algorithm for Constrained Finite Time Optimal Control of Hybrid Systems with a Linear Performance Index European Control Conference (ECC), Cambridge, UK Sep 2003
A. Bemporad, F. Borrelli, M. Morari Min-max Control of Constrained Uncertain Discrete-Time Linear Systems IEEE Transactions on Automatic Control, vol. 48, no. 9, pp. 1600-1606 Sep 2003
I. Petrovic, M. Baotic, L. Matic, N. Peric Hybrid Theory Based Model Predictive Control of Electrical Drives with Friction EPE European Conference on Power Electronics and Applications, Toulouse, France Sep 2003
F. Borrelli, A. Bemporad, M. Morari A Geometric Algorithm for Multi-Parametric Linear Programming Journal of Optimization Theory and Applications, vol. 118, no. 3, pp. 515-540 Sep 2003
P. Grieder, F. Borrelli, F.D. Torrisi, M. Morari Computation of the Constrained Infinite Time Linear Quadratic Regulator American Control Conference, Denver, Colorado, pp. 4711-4716 Jun 2003
M. Baotic, M. Vasak, N. Peric, M. Morari Hybrid System Theory Based Optimal Control of an Electronic Throttle American Control Conference, Denver, Colorado, pp. 5209-5214 Jun 2003
E. Gallestey, A. Stothert, D. Castagnoli, G. Ferrari-Trecate, M. Morari Using Model Predictive Control and Hybrid Systems for Optimal Scheduling of Industrial Processes Automatisierungstechnik, vol. 51, no. 6, pp. 285-293, http://www.at-technik.de,(first publication) Jun 2003
F. Borrelli, M. Baotic, A. Bemporad, M. Morari An Efficient Algorithm for Computing the State Feedback Optimal Control Law for Discrete Time Hybrid Systems American Control Conference, Denver, Colorado, USA, pp. 4717-4722 Jun 2003
I.A. Fotiou Fractals and wavelets for the design and analysis of computer networks IEEE Potentials Magazine, vol. 22, no. 2, pp. 28-31 Apr 2003
T. Geyer, F.D. Torrisi, M. Morari Efficient Mode Enumeration of Compositional Hybrid Models Hybrid Systems: Computation and Control, vol. 2623, pp. 216-232, Lecture Notes in Computer Science Apr 2003
R. Möbus, M. Baotic, M. Morari Multi-Object Adaptive Cruise Control Hybrid Systems: Computation and Control, vol. 2623, pp. 359-374, Lecture Notes in Computer Science Apr 2003
G. Ferrari-Trecate, M. Muselli, D. Liberati, M. Morari A clustering technique for the identification of piecewise affine systems Automatica, vol. 39, no. 2, pp. 205-217 Feb 2003
B. Potocnik, A. Bemporad, F.D. Torrisi, G. Music, B. Zupancic Hysdel Modeling and Simulation of Hybrid Dynamical Systems MATHMOD Conference, Vienna, Austria, February 5–7, 2003 Vienna University of Technology Feb 2003
A. Bemporad, F. Borrelli, M. Morari Model Predictive Control Based on Linear Programming - The Explicit Solution IEEE Transactions on Automatic Control, vol. 47, no. 12, pp. 1974-1985 Dec 2002
G. Ferrari-Trecate, F.A. Cuzzola, D. Mignone, M. Morari Analysis of discrete-time piecewise affine and hybrid systems Automatica, vol. 38, no. 12, pp. 2139 - 2146 Dec 2002
G. Ferrari-Trecate, D. Mignone, M. Morari Moving Horizon Estimation for Hybrid Systems American Control Conference, Chicago, USA, vol. 3, pp. 1684-1688 Oct 2002
B. Potocnik, A. Bemporad, F.D. Torrisi, G. Music, B. Zupancic Scheduling of Hybrid Systems: Multi Product Batch Plant IFAC Triennial World Congress, Barcelona, Spain Jul 2002
A.M. Bayen, P. Grieder, H. Sipma, G. Meyer, C. J. Tomlin Delay Predictive Models of the National Airspace System Using Hybrid Control Theory American Control Conference, Alaska May 2002
A. Bemporad, W.P.M.H. Heemels, B. De Schutter On hybrid systems and closed-loop MPC systems IEEE Transactions on Automatic Control, vol. Vol. 47, no. 5, pp. 863 - 869 May 2002
K. Tsuda, K. Asano, A. Bemporad, M. Morari Predictive Control for Hybrid Systems and Its Application to Process Systems, Control and Information (ISCIE), vol. Vol. 46, No. 3, pp. 6 - 15 Mar 2002
G. Ferrari-Trecate, E. Gallestey, P. Letizia, M. Spedicato, M. Morari, M. Antoine Modeling and Control of Co-generation Power Plants: A Hybrid System Approach International Workshop on Hybrid Systems: Computation and Control, Stanford, California, USA, no. 5, pp. 208-224, 25 - 27 March 2002, Tomlin C. G. and Greenstreet M. R. (eds.), Lecture Notes in Computer Science no. 2289. Mar 2002
G. Ferrari-Trecate, F.A. Cuzzola, M. Morari Analysis of discrete-time PWA systems with logic states International Workshop on Hybrid Systems: Computation and Control, Stanford, California, USA, no. 5, pp. 194 - 208, March 25-27, 2002, Tomlin C. J. and Greenstreet M. R. (eds.), Lecture Notes in Computer Science 2289. Mar 2002
A. Bemporad, F. Borrelli, M. Morari On the optimal control law for linear discrete time hybrid systems International Workshop on Hybrid Systems: Computation and Control, Stanford, California, USA, pp. 105-119, 25 - 27 March , Tomlin C. J. and Greenstreet M. R. (eds.), Lecture Notes in Computer Science no. 2289. Mar 2002
A. Bemporad, M. Morari, V. Dua, E.N. Pistikopoulos The Explicit Linear Quadratic Regulator for Constrained Systems Automatica, vol. 38, no. 1, pp. 3-20 Jan 2002
P. Tondel, T. Johansen, A. Bemporad An algorithm for multi-parametric quadratic programming and explicit MPC solutions IEEE Conference on Decision and Control, vol. 2, no. 40, pp. 1199 - 1204 2001
A. Bemporad, J. Roll, L. Ljung Identification of hybrid systems via mixed-integer programming IEEE Conference on Decision and Control, Orlando, Florida 2001
W.P.M.H. Heemels, B. De Schutter, A. Bemporad On the equivalence of classes of hybrid dynamical models IEEE Conference on Decision and Control, Orlando, Florida, no. 40 2001
A. Bemporad, C. Filippi Suboptimal explicit MPC via approximate multiparametric quadratic programming IEEE Conference on Decision and Control, Orlando, Florida 2001
G. De Nicolao, G. Ferrari-Trecate Regularization Networks: Fast Weight Calculation via Kalman Filtering IEEE Trans. on Neural Networks, vol. 12, no. 2, pp. 228-235 2001
F. Borrelli, M. Baotic, A. Bemporad, M. Morari Efficient On-Line Computation of Constrained Optimal Control IEEE Conference on Decision and Control, Orlando, Florida, pp. 1187-1192 Dec 2001
G. Ferrari-Trecate, G. De Nicolao Computing the equivalent number of parameters of fixed-interval smoothers IEEE Conference on Decision and Control, Orlando, Florida, USA, no. 40 Dec 2001
F.D. Torrisi, A. Bemporad Discrete-Time Hybrid Modeling and Verification IEEE Conference on Decision and Control, Orlando, FL Dec 2001
A. Bemporad, F. Borrelli, M. Morari Robust Model Predictive Control: Piecewise Linear Explicit Solution European Control Conference (ECC), Porto, Portugal, pp. 939-944 Sep 2001
A. Bemporad, F. Borrelli, L. Glielmo, F. Vasca Hybrid Control of Dry Clutch Engagement European Control Conference (ECC), Porto, Portugal Sep 2001
A. Bemporad, F.D. Torrisi, M. Morari Discrete-Time Hybrid Modeling and Verification of the Batch Evaporator Process Benchmark European Journal of Control, vol. 7, no. 4, pp. 382-399 Sep 2001
W.P.M.H. Heemels, B. De Schutter, A. Bemporad Equivalence of hybrid dynamical models Automatica, vol. 37, no. 7, pp. 1085-1091 Jul 2001
G. Ferrari-Trecate, M. Muselli, D. Liberati, M. Morari Identification of Piecewise Affine and Hybrid Systems American Control Conference, Arlington (VA), US, vol. 5, pp. 3521-3526 Jun 2001
K. Tsuda, D. Mignone, G. Ferrari-Trecate, M. Morari Reconfiguration Strategies for Hybrid Systems American Control Conference, Arlington (VA), US, vol. 2, pp. 868-873 Jun 2001
G. Ferrari-Trecate, F.A. Cuzzola, D. Mignone, M. Morari Analysis and Control with Performance of Piecewise Affine and Hybrid Systems American Control Conference, Arlington (VA), US, vol. 1, pp. 200-205 Jun 2001
A. Bemporad, M. Morari Optimization-based hybrid control tools American Control Conference, Arlington (VA), US, vol. 2, pp. 1689-1703 Jun 2001
G. Ferrari-Trecate, G. De Nicolao NARX Models: Optimal Parametric Approximation of Nonparametric Estimators American Control Conference, Arlington (VA), US, pp. 4868-4873 Jun 2001
G. Ferrari-Trecate, M. Muselli, D. Liberati, M. Morari A learning algorithm for piecewise linear regression Italian Workshop on Neural Nets, Vietri sul Mare, Italy, no. 12, pp. 1 - 6, Eds. M. Marinaro, R. Tagliaferri, London: Springer. May 2001
A. Bemporad, K. Fukuda, F.D. Torrisi Convexity recognition of the union of polyhedra Computational Geometry, vol. 18, no. 3, pp. 141-154 Apr 2001
F. Borrelli, A. Bemporad, M. Fodor, D. Hrovat A Hybrid Approach to Traction Control International Workshop on Hybrid Systems: Computation and Control, Roma, Italy Mar 2001
A. Bemporad, F. Borrelli, L. Glielmo, F. Vasca Optimal Piecewise-Linear Control of Dry Clutch Engagement IFAC Workshop: Advances in Automotive Control, Karlsruhe, Germany Mar 2001
M. Muselli, D. Liberati, G. Ferrari-Trecate, M. Morari A Clustering Technique for the Identification of Piecewise Affine Systems International Workshop on Hybrid Systems: Computation and Control, Roma, Italy, pp. 218-231, March 28-30, A. Sangiovanni-Vincentelli, M. Di Benedetto (eds.), Lecture Notes in Computer Science 2034. Mar 2001
A. Bemporad, A. Garulli Output-feedback predictive control of constrained linear systems with disturbances via set-membership state estimation International Journal of Control, vol. 73, no. 8, pp. 655-665 2000
A. Bemporad, M. Morari Predictive Control of Constrained Hybrid Systems Nonlinear Model Predictive Control, Ascona, Switzerland, vol. 26,, pp. 71-98, (Progress in Systems & Control Theory) (Proceedings of International Symposium on Nonlinear Model Predictive Control - Assessment and Future Directions, June 1998) 2000
A. Bemporad, A. Garulli Output-feedback predictive control of constrained linear systems via set-membership state estimation International Journal of Control, vol. 73, pp. 655-665 2000
G. De Nicolao, G. Ferrari-Trecate, G. Sparacino Fast spline smoothing via spectral factorization concepts Automatica, vol. 36, no. 11, pp. 1733-1739 2000
A. Bemporad, K. Fukuda, F.D. Torrisi On Convexity Recognition of the Union of Polyhedra International Conference on Advances in Convex Analysis and Global Optimization, Samos, Greece, pp. 82,83 2000
A. Bemporad, F. Borrelli, M. Morari Optimal Controllers for Hybrid Systems: Stability and Piecewise Linear Explicit Form IEEE Conference on Decision and Control, Sydney, Australia, no. 39 Dec 2000
A. Bemporad, F. Borrelli, M. Morari The Explicit Solution of Constrained LP-Based Receding Horizon Control IEEE Conference on Decision and Control, Sydney, Australia, no. 39 Dec 2000
A. Bemporad, F.D. Torrisi, M. Morari Performance Analysis of Piecewise Linear Systems and Model Predictive Control Systems IEEE Conference on Decision and Control, Sydney, Australia, no. 39, pp. 4957-4962 Dec 2000
A. Bemporad, L. Giovanardi, F.D. Torrisi Performance Driven Reachability Analysis for Optimal Scheduling and Control of Hybrid Systems IEEE Conference on Decision and Control, Sydney, Australia, no. 39, pp. 969-974 Dec 2000
D. Mignone, G. Ferrari-Trecate, M. Morari Stability and Stabilization of Piecewise Affine and Hybrid Systems: An LMI Approach IEEE Conference on Decision and Control, Sydney, Australia, no. 39 Dec 2000
A. Bemporad, G. Ferrari-Trecate, M. Morari Observability and Controllability of Piecewise Affine and Hybrid Systems IEEE Transactions on Automatic Control, vol. 45, no. 10, pp. 1864-1876 Oct 2000
G. Ferrari-Trecate, D. Mignone, D. Castagnoli, M. Morari Mixed Logic Dynamical Model of a Hydroelectric Power Plant International Conference Automation of Mixed Processes Hybrid Dynamic Systems, Dortmund, Germany, no. 4 Sep 2000
E.N. Pistikopoulos, V. Dua, N.A Bozinis, A. Bemporad, M. Morari On-line Optimization via Off-line Parametric Optimization Tools International Symposium on Process Systems Engineering, Keystone, USA, vol. 24, no. 2-7, pp. 183-188, Published in Computers & Chemical Engineering. Jul 2000
A. Bemporad, F. Borrelli, M. Morari Piecewise linear optimal controllers for hybrid systems American Control Conference, Chicago, USA, vol. 2, pp. 1190-1194 Jun 2000
E.C. Kerrigan, A. Bemporad, D. Mignone, M. Morari, Jan M. Maciejowski Multi-objective Prioritisation and Reconfiguration for the Control of Constrained Hybrid Systems American Control Conference, Chicago, USA, vol. 3, pp. 1694-1698 Jun 2000
G. De Nicolao, G. Ferrari-Trecate A Kalman filtering algorithm for regularization networks American Control Conference, Chicago, USA Jun 2000
G. Ferrari-Trecate, D. Mignone, M. Morari Moving Horizon Estimation for Hybrid Systems American Control Conference, Chicago, USA, vol. 3, pp. 1684-1688 Jun 2000
A. Bemporad, M. Morari, V. Dua, E.N. Pistikopoulos The Explicit Solution of Model Predictive Control via Multiparametric Quadratic Programming American Control Conference, Chicago, USA, vol. 2, pp. 872-876 Jun 2000
A. Bemporad, L. Giovanardi, M. Morari Robust Simulation of Nonlinear Electronic Circuits Annual Workshop on Nonlinear Dynamics of Electronic Systems, DEES Catania, Italy, no. 8, pp. 131-135, University of Catania May 2000
A. Bemporad, N.A Bozinis, V. Dua, M. Morari, E.N. Pistikopoulos Model Predictive Control: A Multi-parametric Programming Approach European Symposium on Computer Aided Process Engineering, Florence, Italy, pp. 301-306 May 2000
A. Bemporad, F.D. Torrisi, M. Morari Optimization-Based Verification and Stability Characterization of Piecewise Affine and Hybrid Systems International Workshop on Hybrid Systems: Computation and Control, Pittsburgh, USA, vol. 1790, no. 3, pp. 45-58, B.H. Krogh, N. Lynch (Eds.), Lecture Notes in Computer Science Mar 2000
A. Bemporad, M. Di Marco, A. Tesi Sonar-based wall-following control of mobile robots ASME J. Dynamic Systems, Measurement & Control, vol. 122, pp. 226-230 Mar 2000
A. Bemporad, M. Morari Verification of Hybrid Systems via Mathematical Programming Hybrid Systems: Computation and Control, pp. 31-45, F.W. Vaandrager and J.H. van Schuppen Eds., Lecture Notes in Computer Science 1569, Springer Verlag 1999
A. Bemporad, M. Morari Robust Model Predictive Control: A Survey Robustness in Identification and Control, vol. 245, pp. 207-226, A. Garulli, A. Tesi, A. Vicino (Eds.), Lecture Notes in Control and Information Sciences, Springer-Verlag 1999
G. Ferrari-Trecate, C.K.I. Williams, M. Opper Finite-dimensional approximation of Gaussian processes Advances in Neural Information Processing Systems 11, In M. Kearns, S. Solla and D. Cohn, editors. 1999
A. Bemporad, G. Ferrari-Trecate, M. Morari Observability and Controllability of Piecewise Affine and Hybrid Systems IEEE Transactions on Automatic Control, vol. 45, no. 10, pp. 1864-1876 Dec 1999
A. Bemporad, T.J. Tarn, N. Xi Predictive path parameterization for constrained robot control IEEE Transactions on Control Systems Technology, vol. 7, no. 6, pp. 648-656 Nov 1999
G. De Nicolao, G. Ferrari-Trecate Consistent Identification of NARX Models via Regularization Networks IEEE Transactions on Automatic Control, vol. 44, no. 11, pp. 2045-2049, Special Section on Neural Networks in Control, Identification, and Decision Making. Nov 1999
A. Bemporad, G. Ferrari-Trecate, D. Mignone, M. Morari, F.D. Torrisi Model Predictive Control - Ideas for the Next Generation European Control Conference (ECC), Karlsruhe, Germany Sep 1999
A. Bemporad, D. Mignone, M. Morari An Efficient Branch and Bound Algorithm for State Estimation and Control of Hybrid Systems European Control Conference (ECC), Karlsruhe, Germany Aug 1999
M. Morari, A. Bemporad, D. Mignone A Framework for Control, State Estimation, Fault Detection, and Verification of Hybrid Systems Scientific Computing in Chemical Engineering II, vol. 2, pp. 46-61, (Simulation, Image Processing, Optimization, and Control), Eds. Keil, Mackens, Voss and Werther Aug 1999
G. De Nicolao, G. Ferrari-Trecate On the Wold decomposition of discrete-time cyclostationary processes IEEE Trans. on Signal Processing, vol. 47, no. 7, pp. 2041-2043 Jul 1999
D. Mignone, A. Bemporad, M. Morari A Framework for Control, Fault Detection, State Estimation, and Verification of Hybrid Systems American Control Conference, San Diego, pp. 134-138 Jun 1999
A. Bemporad, D. Mignone, M. Morari Moving Horizon Estimation for Hybrid Systems and Fault Detection American Control Conference, San Diego, pp. 2471-2475 Jun 1999
A. Bemporad, M. Morari Control of systems integrating logic, dynamics, and constraints Automatica, vol. 35, no. 3, pp. 407-427, Special issue on hybrid systems Mar 1999
A. Bemporad Predictive control of teleoperated constrained systems with unbounded communication delays IEEE Conference on Decision and Control, Tampa, Florida, USA, pp. 2133-2138 1998
A. Bemporad Reducing conservativeness in predictive control of constrained systems with disturbances IEEE Conference on Decision and Control, Tampa, Florida, USA, pp. 1384-1391 1998
A. Bemporad, A. Casavola, E. Mosca A predictive reference governor for constrained control systems Computers in Industry, vol. 36, pp. 55-64 1998
G. De Nicolao, G. Ferrari-Trecate, G. Sparacino Explicit evaluation of the equivalent degrees of freedom of smoothing splines: A spectral factorization approach Mathematical Theory of Networks and Systems, Padova, Italy 1998
A. Bemporad A predictive controller with artificial Lyapunov function for linear systems with input/state constraints Automatica, vol. 34, no. 10, pp. 1255-1260 1998
A. Bemporad, M. Morari Predictive control of constrained hybrid systems Int. Symposium on Nonlinear Model Predictive Control, Ascona, Switzerland, pp. 108-127, Assessment and Future Directions 1998
A. Bemporad Reference governor for constrained nonlinear systems IEEE Transactions on Automatic Control, vol. 43, no. 3, pp. 415-419 1998
A. Bemporad, E. Mosca Fulfilling hard constraints in uncertain linear systems by reference managing Automatica, vol. 34, no. 4, pp. 45-461 1998
G. De Nicolao, G. Ferrari-Trecate The structure of predictable discrete-time cyclostationary processes Mathematical Theory of Networks and Systems, Padova, Italy, July 6-10. Jul 1998
A. Bemporad, A. Garulli Predictive control via set-membership state estimation for constrained linear systems with disturbances European Control Conference (ECC), Brussels, Belgium 1997
A. Bemporad, E. Mosca Constrained predictive control with terminal ellipsoid constraint and artificial Lyapunov functions IEEE Conference on Decision and Control, San Diego, USA, pp. 3218-3219 1997
A. Bemporad Control of constrained nonlinear systems via reference management American Control Conference, NM, USA, pp. 3343-3347 1997
A. Bemporad, A. Casavola, E. Mosca Nonlinear control of constrained linear systems via predictive reference management IEEE Transactions on Automatic Control, vol. 42, no. 3, pp. 340-349 1997
A. Bemporad, T.J. Tarn On-line path parameterization for manipulators with input/state constraints IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Tokyo, Japan 1997
M. Kothare, V. Balakrishnan, M. Morari Robust constrained model predictive control using linear matrix inequalities Automatica, vol. 32, no. 10, pp. 1361-1379 Oct 1996
A. Bemporad, E. Mosca Nonlinear predictive reference governor for constrained control systems IEEE Conference on Decision and Control, New Orleans, Lousiana, U.S.A., pp. 1205-1210 1995
(02)Book
F.J. Christophersen Optimal Control of Constrained Piecewise Affine Systems vol. 359 Jul 2007
Book Chapter
Yudong Ma, S. Richter, F. Borrelli Distributed Model Predictive Control for Building Temperature Regulation Control and Optimization with Differential-Algebraic Constraints 2012
Ph. Rostalski, J.B. Lasserre, M. Laurent A unified approach for real and complex zeros of zero-dimensional ideals. vol. The IMA Volumes in Mathematics and its Applications, accepted as a book chapter in: "Emerging Applications of Algebraic Geometry","The IMA Volumes in Mathematics and its Applications", Seth Sullivant and Mihai Putinar ed. 2008
(04)Technical Report
A.B. Hempel, P.J. Goulart, J. Lygeros Strong Stationarity Conditions for Optimal Control of Hybrid Systems vol. AUT15-06, available at http://arxiv.org/abs/1507.02878 Jul 2015
A.B. Hempel, P.J. Goulart, J. Lygeros Inverse Parametric Optimization with an Application to Hybrid System Control vol. AUT14-03, Available on Optimization Online Jun 2014
A. Fuchs, D. Axehill, M. Morari On the evaluation of mp-MIQP solutions vol. AUT13-06 Nov 2013
S. Richter, M. Morari Stopping Criteria for First-Order Methods vol. AUT12-03 May 2012
S. Richter, M. Morari, C. Jones A Complexity-Based Review on Proximal Gradient Methods for Convex Composite Optimization vol. AUT12-01 Mar 2012
C.N. Jones, M. Morari Approximate Explicit MPC using Bilevel Optimization vol. AUT09-04 Mar 2009
Sasa V. Rakovic, M. Baric, M. Morari Max--Min Control Problems for Constrained Discrete Time Systems vol. AUT08-07 Sep 2008
C.N. Jones, Jorge Goncalves A Cost-Effective Atomic Force Microscope for Undergraduate Control Laboratories vol. AUT08-04 Aug 2008
K. Nolde Comparison of Continuous and Discrete Time Formulations for Load Tracking Scheduling Problems vol. AUT08-06 Jul 2008
Th. Besselmann, M. Morari Removal of regions for quadratic norm optimal control of piecewise affine systems vol. AUT07-12 Nov 2007
Th. Besselmann, J. Löfberg, M. Morari Explicit MPC for systems with linear parameter-varying state transition matrix vol. AUT07-14 Jul 2007
K. Nolde, M. Uhr, M. Morari Medium Term Scheduling of a Hydro-Thermal System Using Stochastic Model Predictive Control vol. AUT07-04 Mar 2007
M. Baric, C.N. Jones, M. Morari Parametric Analysis of Controllers for Constrained Linear Systems vol. AUT06-06 Mar 2006
F.J. Christophersen, M. Morari Further Results on `Infinity Norms as Lyapunov Functions for Linear Systems' vol. AUT05-13 Dec 2005
M. Baric, M. Baotic, M. Morari On-line Tuning of the Explicit Solution to Model Predictive Control vol. AUT05-10 Sep 2005
F.J. Christophersen, M. Baotic, M. Morari Optimal Control of Piecewise Affine Systems: A Dynamic Programming Approach vol. AUT05-04 May 2005
I.A. Fotiou, P.A. Parrilo, M. Morari Nonlinear parametric optimization using cylindrical algebraic decomposition vol. AUT05-02 Mar 2005
T. Geyer, G. Papafotiou, M. Morari Direct Torque Control for Induction Motor Drives: A Model Predictive Control Approach based on Feasibility vol. AUT04-09 Dec 2004
M. Kvasnica, P. Grieder, M. Baotic, F.J. Christophersen Multi-Parametric Toolbox (MPT): User's Manual Nov 2004
F.J. Christophersen, M. Baotic, M. Morari Stability Analysis of Hybrid Systems with a Linear Performance Index vol. AUT03-14 Aug 2004
M. Baotic, F.J. Christophersen, M. Morari Constrained Optimal Control of Hybrid Systems with a Linear Performance Index vol. AUT04-05 Aug 2004
P. Grieder, S. Rakovic, M. Morari, D. Mayne Invariant Sets for Switched Discrete Time Systems subject to Bounded Disturbances vol. AUT04-04 Jul 2004
S. Rakovic, P. Grieder, C.N. Jones Computation of Voronoi Diagrams and Delaunay Triangulation via Parametric Linear Programming vol. AUT04-10 May 2004
S. Rakovic, P. Grieder Computation and Properties of the Disturbance Response Set of PWA Systems vol. AUT04-02 Feb 2004
T. Geyer, F.D. Torrisi, M. Morari Optimal Complexity Reduction of Piecewise Affine Models Based on Hyperplane Arrangements vol. AUT04-01 Feb 2004
B. Potocnik, A. Bemporad, F.D. Torrisi, G. Music, B. Zupancic HYSDEL Modeling and Optimal Control of a Multi Product Batch Plant vol. AUT03-02 2003
B. Potocnik, A. Bemporad, F.D. Torrisi, G. Music, B. Zupancic HYSDEL Modeling and Optimal Control of an Asphalt Base Process vol. AUT03-03 2003
M. Kvasnica, P. Grieder, M. Baotic, M. Morari Multi-Parametric Toolbox (MPT) vol. AUT03-17 Dec 2003
P. Grieder, M. Kvasnica, M. Baotic, M. Morari Low Complexity Control of Piecewise Affine Systems with Stability Guarantee vol. AUT03-13 Aug 2003
M. Baotic, F.D. Torrisi Polycover vol. AUT03-11 Jun 2003
G. Papafotiou, T. Geyer, M. Morari Optimal Direct Torque Control of Three-Phase Symmetric Induction Motors vol. AUT03-07 Apr 2003
K. Unneland, P. Grieder, F.D. Torrisi Analysis of Multi Parametric Quadratic Programming Algorithms at the Automatic Control Lab vol. AUT03-12 Mar 2003
M. Baotic, F.J. Christophersen, M. Morari Infinite Time Optimal Control of Hybrid Systems with a Linear Performance Index vol. AUT03-04 Mar 2003
F. Borrelli, M. Baotic, A. Bemporad, M. Morari Constrained Optimal Control of Discrete-Time Linear Hybrid Systems vol. AUT03-05 Mar 2003
T. Geyer, F.D. Torrisi, M. Morari Efficient Mode Enumeration of Compositional Hybrid Models vol. AUT03-01 Jan 2003
F.A. Cuzzola, F. Borrelli, G. Ferrari-Trecate, M. Morari Approximation of convex piecewise quadratic functions vol. AUT02-08 2002
G. Ferrari-Trecate, E. Gallestey, P. Letizia, M. Spedicato, M. Morari, M. Antoine Modeling and Control of Co-generation Power Plants: A Hybrid System Approach vol. AUT02-01 2002
P. Grieder, M. Morari Complexity Reduction of Receding Horizon Control vol. AUT02-16 Dec 2002
A. Bemporad, C. Filippi, F.D. Torrisi Inner and Outer Approximations of Polytopes Using Boxes vol. AUT02-06 Dec 2002
M. Baotic, M. Vasak, N. Peric, M. Morari Hybrid System Theory Based Optimal Control of an Electronic Throttle vol. AUT02-17 Sep 2002
D. Jost, F.D. Torrisi HYSDEL - Programmer Manual vol. AUT02-11 Aug 2002
P. Grieder, F. Borrelli, F.D. Torrisi, M. Morari Computation of the Constrained Infinite Time Linear Quadratic Regulator vol. AUT02-09 Aug 2002
F.D. Torrisi, A. Bemporad, G. Bertini, P. Hertach, D. Jost, D. Mignone HYSDEL - User Manual vol. AUT02-10 Aug 2002
T. Geyer, M. Larsson, M. Morari Hybrid Control of Voltage Collapse in Power Systems vol. AUT02-12 Jul 2002
A. Bemporad, C. Filippi Suboptimal Explicit RHC via Approximate Multiparametric Quadratic Programming vol. AUT02-07 May 2002
M. Baotic An Efficient Algorithm for Multiparametric Quadratic Programming vol. AUT02-05 Apr 2002
F.D. Torrisi, A. Bemporad HYSDEL --- A Tool for Generating Computational Hybrid Models for Analysis and Synthesis Problems vol. AUT02-03 Mar 2002
F. Borrelli, M. Baotic, A. Bemporad, M. Morari An Efficient Algorithm for Computing the State Feedback Optimal Control Law for Discrete Time Hybrid Systems vol. AUT02-04 Mar 2002
D. Mignone, N. Monachino The Total Three Tank Tutorial Text vol. AUT01-21 2001
G. Ferrari-Trecate, R. Rovatti Fuzzy Systems with Overlapping Gaussian Concepts: Approximation Properties in Sobolev Norms vol. AUT01-10 2001
D. Mignone The REALLY BIG Collection of Logic Propositions and Linear Inequalities vol. AUT01-11 2001
G. Ferrari-Trecate, F.A. Cuzzola, M. Morari Analysis of Discrete-Time PWA Systems with Boolean Inputs, Outputs and States vol. AUT01-21 Dec 2001
A. Bemporad, F. Borrelli, M. Morari Optimal Control of Discrete Time Linear Hybrid Systems vol. AUT01-20 Nov 2001
F.D. Torrisi, D. Mignone, M. Morari Time-Optimal Control of Hybrid Systems: Heuristic vs Systematic Design vol. AUT01-18 Nov 2001
A. Bemporad, F. Borrelli, M. Morari Robust Constrained Optimal Control and Its State-Feedback Piecewise-Affine Solution vol. AUT01-19 Nov 2001
G. Ferrari-Trecate, F.A. Cuzzola, M. Morari Analysis of Discrete-Time Piecewise Affine and Hybrid Systems vol. AUT01-16 Aug 2001
G. Ferrari-Trecate, G. De Nicolao Computing the equivalent number of parameters of fixed-interval smoothers vol. AUT01-14 Aug 2001
F. Borrelli, M. Baotic, A. Bemporad, M. Morari Efficient On-Line Computation of Explicit Model Predictive Control vol. AUT01-15 Aug 2001
F.D. Torrisi, A. Bemporad Discrete-Time Hybrid Modeling and Verification vol. AUT01-17 Aug 2001
G. Ferrari-Trecate, P. Letizia, M. Spedicato Optimization with piecewise affine cost functions vol. AUT01-13 Jul 2001
A. Bemporad, F. Borrelli, M. Morari Model Predictive Control Based on Linear Programming - The Explicit Solution vol. AUT01-06 Jan 2001
G. De Nicolao, G. Ferrari-Trecate Regularization networks for inverse problems: A state-space approach vol. AUT00-20 2000
G. Ferrari-Trecate, D. Mignone, D. Castagnoli, M. Morari Hybrid Modeling and Control of a Hydroelectric Power Plant vol. AUT00-11 2000
A. Bemporad, M. Morari, L. Ricker The MPC Simulink Library vol. AUT01-08 2000
G. Ferrari-Trecate, D. Mignone, M. Morari Moving Horizon Estimation for Hybrid Systems vol. AUT00-08 2000
D. Mignone, G. Ferrari-Trecate, M. Morari Stability and Stabilization of Piecewise Affine and Hybrid Systems: An LMI Approach vol. AUT00-12 2000
G. Ferrari-Trecate, R. Rovatti Consistent Sobolev Regression via Fuzzy Systems with Overlapping Concepts vol. AUT00-10 2000
A. Bemporad, F.D. Torrisi Inner and Outer Approximation of Polytopes Using Hyper-Rectangles vol. AUT00-02 2000
A. Bemporad, D. Mignone miqp.m: A Matlab function for solving Mixed Integer Quadratic Programs vol. AUT00-22 2000
F. Borrelli, A. Bemporad, M. Morari, D. Hrovat, M. Fodor A Hybrid Approach to Traction Control vol. AUT00-27 Nov 2000
A. Bemporad, J. Roll, L. Ljung Identification of Hybrid Systems via Mixed-Integer Programming vol. AUT00-29 Oct 2000
F.D. Torrisi, A. Bemporad, D. Mignone HYSDEL --- A Tool for Generating Hybrid Models vol. AUT00-03 Oct 2000
A. Bemporad Identification of Hybrid Systems: Global Convergence via Mixed-Integer Programming vol. AUT00-28 Sep 2000
G. Ferrari-Trecate, F.A. Cuzzola, D. Mignone, M. Morari Analysis and Control with Performance of Piecewise Affine and Hybrid Systems vol. AUT00-23 Sep 2000
G. Ferrari-Trecate, G. De Nicolao NARX Models: Optimal Parametric Approximation of Nonparametric Estimators vol. AUT00-25 Sep 2000
K. Tsuda, D. Mignone, G. Ferrari-Trecate, M. Morari Reconfiguration Strategies for Hybrid Systems vol. AUT00-24 Sep 2000
A. Bemporad, L. Giovanardi, F.D. Torrisi Performance Driven Reachability Analysis for Optimal Scheduling and Control of Hybrid Systems vol. AUT00-15 Aug 2000
A. Bemporad, K. Fukuda, F.D. Torrisi Convexity Recognition of the Union of Polyhedra vol. AUT00-13 Apr 2000
G. De Nicolao, G. Ferrari-Trecate Regularization networks:fast weight calculation via Kalman filtering vol. AUT00-09 Mar 2000
A. Bemporad, F.D. Torrisi, M. Morari Performance Analysis of Piecewise Linear Systems and Model Predictive Control Systems vol. AUT00-14 Mar 2000
F. Borrelli, A. Bemporad, M. Morari A Geometric Algorithm for Multi-Parametric Linear Programming vol. AUT00-06 Mar 2000
A. Bemporad, F.D. Torrisi, M. Morari Verification of Mixed Logical Dynamical Models - The Batch Evaporator Process Benchmark vol. AUT00-04 Feb 2000
A. Bemporad, M. Morari, V. Dua, E.N. Pistikopoulos The Explicit Linear Quadratic Regulator for Constrained Systems vol. AUT99-16 Sep 1999
A. Bemporad Reducing conservativeness in predictive control of constrained systems with disturbances vol. AUT98-02 1998
A. Bemporad, M. Morari Control of Systems Integrating Logic, Dynamics, and Constraints vol. AUT98-04 1998
A. Bemporad Predictive control of teleoperated constrained systems with unbounded communication delays vol. AUT98-03 1998
(03)Ph.D. Thesis
A.B. Hempel Control of Piecewise Affine Systems Through Inverse Optimization Dec 2015
M.N. Zeilinger Real-time Model Predictive Control ETH Zurich Sep 2011
U. Mäder Augmented Models in Estimation and Control Oct 2010
Th. Besselmann Constrained Optimal Control - Piecewise Affine and Linear Parameter-Varying Systems Mar 2010
A. Sahin Model Predictive Control for Large Scale Systems: Two Industrial Applications no. ETH - Diss.-Nr. 18792 Dec 2009
K. Nolde Optimal Control of Switched-input and Uncertain Systems no. 17886 Oct 2008
I.A. Fotiou Parametric Optimization and Constrained Optimal Control for Polynomial Dynamical Systems no. 17609 Jun 2008
R. Möbus Multi-object adaptive cruise control no. 17742 Apr 2008
F.J. Christophersen Optimal Control and Analysis for Constrained Piecewise Affine Systems no. 16807 Aug 2006
T. Geyer Low Complexity Model Predictive Control in Power Electronics and Power Systems Mar 2005
M. Baotic Optimal Control of Piecewise Affine Systems -- a Multi-parametric Approach Mar 2005
P. Grieder Efficient Computation of Feedback Controllers for Constrained Systems Oct 2004
F.D. Torrisi Modeling and Reach-Set Computation for Analysis and Optimal Control of Discrete Hybrid Automata vol. Diss. ETH Nr 15064 Mar 2003
F. Borrelli Discrete Time Constrained Optimal Control vol. Diss. ETH Nr. 14666 Oct 2002
D. Mignone Control and Estimation of Hybrid Systems with Mathematical Optimization vol. Diss. ETH Nr. 14520 Jan 2002
A. Bemporad Reference Governors: On-Line Set-Point Optimization Techniques for Constraint Fulfillment Università di Firenze, Italy, Ph.D. thesis, Dipartimento di Sistemi e Informatica. Aug 1997
(08)Patent
S. Mariéthoz, O. Schultes, D. Frick, M. Tanaskovic Method for determining the position of a rotor of a polyphase motor US Patent 14/450,426; Title: Method for determining the position of a rotor of a polyphase motor; 4 August 2014; Inventor: Sébastien Mariéthoz, Coinventors: Oliver Schultes, Damian Frick, Marko Tanaskovic Aug 2014
S. Mariéthoz, O. Schultes, D. Frick, M. Tanaskovic Method for determining the position of a rotor of a polyphase motor EU Patent 14 001 089.3; Title: Method for determining the position of a rotor of a polyphase motor; 24 March 2014; Inventor: Sébastien Mariéthoz, Coinventors: Oliver Schultes, Damian Frick, Marko Tanaskovic Mar 2014
Gabriela Glanzmann, Martin von Siebenthal, T. Geyer, G. Papafotiou, M. Morari System for controlling hydroelectric power plants Assignee: Eidgenössische Technische Hochschule Zürich (CH) Priority date: 2004-08-27 (US 60/605,342) Publication numbers: EP 1787172, WO 2006021125 Aug 2004
T. Geyer, G. Papafotiou, M. Morari Method for operating a rotating electrical machine (Verfahren zum Betrieb einer rotierenden elektrischen Maschine) Assignee: ABB Research LTD (CH); Eidgenössische Technische Hochschule Zürich (CH) Priority date: 2004-12-10 Publication numbers: EP 1670135, US 2006125435, JP 2006174697 Patents granted: US 7256561 Jun 2004
(05)Plenary/Invited/Honorary Lecture
J. Löfberg Nonlinear Semidefinite Programming in YALMIP SIAM Conference on Optimization May 2005
M. Morari, A. Bemporad Control of constrained systems: Model predictive control HSCC (Hybrid Systems: Computation and Control ), Berkeley, California, USA, Invited Lecture, First International Workshop. Apr 1998
M. Morari, A. Bemporad Control of constrained systems: Model predictive control Benelux Meeting on Systems and Control, Mierlo, The Netherlands, Invited Plenary Lecture Mar 1998
(06)Talk
A.B. Hempel Continuous Stationarity Conditions for Hybrid System MPC Problems International Symposium on Mathematical Programming, Pittsburgh, PA Jul 2015
D. Frick, J.L. Jerez, A. Domahidi, S. Grammatico, M. Morari Real-time Optimal Control of Constrained Hybrid Systems International Symposium on Mathematical Programming, Pittsburgh, Pennsylvania, U.S. Jul 2015
A.B. Hempel A Novel Method for Modelling Cardinality and Rank Constraints IfA Internal Seminar Series, Zurich, CH Jan 2015
A.B. Hempel A Solution to the Inverse Optimization Problem Using Convex Decomposition UC San Diego, Caltech, and UC Berkeley Nov 2014
A.B. Hempel A Solution to the Inverse Optimization Problem Using Convex Decomposition Dagstuhl, Germany, Dagstuhl Seminar "Control Theory meets Software Engineering" Sep 2014
A.B. Hempel Inverse Parametric Programming and Control of Hybrid Systems ANU Canberra, Australia, Systems and Control Series Oct 2013
A.B. Hempel Inverse Parametric Programming and Control of Hybrid Systems (revisited) IfA Internal Seminar Series Mar 2013
A. Domahidi Learning Near-optimal Decision Rules for Energy Efficient Building Control IEEE Conference on Decision and Control Dec 2012
S. Richter FiOrdOs - Code Generation for First-Order Methods International Symposium on Mathematical Programming, Berlin, Germany Aug 2012
S. Richter FiOrdOs - Code Generation for First-Order Methods EPFL Lausanne, Switzerland May 2012
M.N. Zeilinger Stability guarantees for real-time model predictive control LCCC - Lund Center for Control of Complex Engineering Systems May 2012
A.B. Hempel Inverse Optimization and an Application to Hybrid System Control IfA Internal Seminar Series May 2012
S. Richter Towards Computational Complexity Certification for Constrained MPC Based on Lagrange Relaxation and the Fast Gradient Method IEEE Conference on Decision and Control, Orlando, FL, USA Dec 2011
S. Richter First Order Methods for MPC: Certification & Code Generation UC Berkeley Jul 2011
A. Fuchs On the choice of the Linear Decision Functions for Point Location in Polytopic Data Sets - Application to Explicit MPC IEEE Conference on Decision and Control, Atlanta, USA Dec 2010
A. Fuchs Optimized Decision Trees for Point Location in Polytopic Data Sets - Application to Explicit MPC American Control Conference, Baltimore, USA Jun 2010
S. Richter High-Speed Online MPC Based on a Fast Gradient Method Applied to Power Converter Control American Control Conference, Baltimore, US Jun 2010
S. Richter CDC '09 Review: Optimality of Affine Policies in Multi‐ Stage Robust Optimization IfA Internal Seminar Series Feb 2010
Th. Besselmann Constrained Time-Optimal Control of Linear Parameter-Varying Systems IEEE Conference on Decision and Control, Shanghai, China Dec 2009
M.N. Zeilinger Real-time MPC - Stability through Robust MPC design IEEE Conference on Decision and Control, Shanghai, China Dec 2009
Th. Besselmann On Explicit MPC for LPV Systems Hamburg, Germany, Alumni-Meeting Institute of Control Systems, Hamburg University of Technology Nov 2009
S. Richter Extreme MPC - Optimization in the microsecond world IfA Internal Seminar Series Oct 2009
M.N. Zeilinger Real-time MPC - Stability through robust MPC design University of California, Berkeley, CA Sep 2009
M.N. Zeilinger, C.N. Jones, D. M. Raimondo, M. Morari Real-time MPC with stability and robustness guarantees Belgian-French-German Conference on Optimization, BFG Sep 2009
M.N. Zeilinger Real-time MPC - Stability through Robust MPC design Stanford University, Palo Alto, CA Sep 2009
Th. Besselmann Autonomous Vehicle Steering Using Explicit LPV-MPC European Control Conference (ECC), Budapest, Hungary Aug 2009
Th. Besselmann Constrained Time-Optimal Control of LPV Systems IfA Internal Seminar Series Aug 2009
Ph. Rostalski Moment matrices and real root finding MSRI Workshop on Algebraic Statistics, Berkeley, USA Dec 2008
M.N. Zeilinger Real-time suboptimal MPC using a combination of Explicit MPC and Online Computation IEEE Conference on Decision and Control, Cancun, Mexico Dec 2008
Th. Besselmann Explicit MPC for LPV systems IEEE Conference on Decision and Control, Cancun, Mexico Dec 2008
C.N. Jones Embedded Model Predictive Control with Explicit Computational Constraints Toronto, Canada Nov 2008
Th. Besselmann Explicit MPC for LPV systems - the current status IfA Internal Seminar Series Nov 2008
Ph. Rostalski Real Radical Ideals and the Hankel Operator UC Berkeley, Discrete Mathematics Seminar (and UC Davis Dec. 8, 2008). Nov 2008
C.N. Jones Embedded Model Predictive Control with Explicit Computational Constraints UCSB, Santa Barbara, CA Nov 2008
M.N. Zeilinger New ideas towards real-time suboptimal MPC with stability and performance guarantees IfA Internal Seminar Series, Zurich Nov 2008
C.N. Jones Embedded Model Predictive Control with Explicit Computational Constraints CalTech, Pasadena, CA Nov 2008
C.N. Jones Embedded Model Predictive Control with Explicit Computational Constraints Stanford, Palo Alto, CA Nov 2008
C.N. Jones Embedded Model Predictive Control with Explicit Computational Constraints UCSD, San Diego, CA Nov 2008
C.N. Jones Embedded Model Predictive Control with Explicit Computational Constraints Berkeley, San Francisco Nov 2008
S. Mariéthoz Selected topics in power electronics control: overview of applications and models; nonlinear DC-DC converter IfA Internal Seminar Series Sep 2008
C.N. Jones Embedded Model Predictive Control with Explicit Computational Constraints EPFL, Lausanne, Switzerland Sep 2008
Ph. Rostalski Quasi-Hankel matrices and the real radical ideal CWI Amsterdam, Amsterdam, The Netherlands, CWI-DIAMANT Seminar Combinatorics and Optimization Sep 2008
C.N. Jones Approximate Explicit Model Predictive Control University of British Columbia Jun 2008
U. Mäder Reference Tracking with MPC IfA Internal Seminar Series May 2008
Ph. Rostalski Linear system theory meets polynomial system solving IfA Internal Seminar Series Apr 2008
I.A. Fotiou A Numerical Algebraic Geometry Approach to Nonlinear Constrained Optimal Control IEEE Conference on Decision and Control, New Orleans, LA Dec 2007
Ph. Rostalski Pre-computing in Polynomial MPC Presentation at ABB Corporate Research, Baden-Dättwil, Switzerland Dec 2007
C.N. Jones Parametric Linear Complementarity Problems in Control KU Leuven, Belgium Nov 2007
Th. Besselmann Hybrid Parameter-Varying Model Predictive Control for Lateral Vehicle Stabilization European Control Conference (ECC), Kos, Greece Jul 2007
A.G. Beccuti Supervisory and cooperative predictive control for network stability American Control Conference, New York City, USA Jul 2007
M. Baric Local Control Lyapunov Functions for Constrained LTI Systems IfA Internal Seminar Series Jul 2007
I.A. Fotiou An optimal control application in power electronics using algebraic geometry European Control Conference (ECC) Jul 2007
I.A. Fotiou Algebraic geometry techniques in optimization and control Geometry Graduate Seminar, University of Stuttgart Jul 2007
Ph. Rostalski Application of Model Predictive Control to a Cascade of River Power Plants Presented at the Alumni Workshops 2007, Institute of Control Systems, TU Hamburg-Harburg Jun 2007
U. Mäder Reference Tracking with MPC IfA Internal Seminar Series May 2007
C.N. Jones Convex parametric linear complementarity problems in control Cambridge, UK May 2007
Th. Besselmann Explicit MPC for LPV Systems - Research Outlook IfA Internal Seminar Series May 2007
Ph. Rostalski Characterizing and computing the Real Radical - An SDP Approach Control Group, University of Cambridge, Control Group Seminar 2007 Apr 2007
I.A. Fotiou A numerical algebraic geometry approach to nonlinear constrained optimal control IfA Internal Seminar Series Apr 2007
Ph. Rostalski Characterization and Computation of Real-Radical Ideals using Semidefinite Programming Techniques 2007 Spring Seminar of the "3ème cycle romand de Recherche Opérationnelle", Hôtel de l'Europe, Zinal, VS, Switzerland. Mar 2007
Ph. Rostalski Characterization and Computation of Real-Radical Ideals using Semidefinite Programming Techniques Institute for Mathematics and its Applications (IMA), University of Minnesota, Minneapolis, MN, USA, IMA Postdoc Seminar 2006/07 Feb 2007
C.N. Jones Parametric Programming and Friends IfA Internal Seminar Series, IfA, Zurich Jan 2007
Ph. Rostalski Semidefinite characterization and computation of real radical ideals IMA Annual Program Year Workshop 2007 - Optimization and Control, Institute for Mathematics and its Applications (IMA), University of Minnesota, Minneapolis, MN, USA, Poster Jan 2007
C.N. Jones, I.A. Fotiou Report on Fast NMPC, 2006 IfA Internal Seminar Series Jan 2007
A.G. Beccuti Comparative assessment of Kalman filter and optimisation-based estimation approaches IfA Internal Seminar Series Jan 2007
C.N. Jones Multiparametric Linear Complementarity Problems IEEE Conference on Decision and Control Dec 2006
C.N. Jones Reverse Search for Parametric Linear Programming IEEE Conference on Decision and Control Dec 2006
C.N. Jones Parametric Analysis of Controllers for Constrained Linear Systems IEEE Conference on Decision and Control, San Diego, USA Dec 2006
Ph. Rostalski Semidefinite Characterization and Computation of Real Radical Ideals IfA Internal Seminar Series Dec 2006
C.N. Jones Primal-Dual Enumeration for Parametric Linear Programming International Congress on Mathematical Software Aug 2006
F.J. Christophersen Optimal Control & Analysis for Piecewise Affine Systems ETH Zurich Aug 2006
I.A. Fotiou An algebraic geometry approach to nonlinear parametric optimization in control American Control Conference, Minneapolis, MN Jun 2006
A.G. Beccuti A Distributed Agent Based Approach To Emergency Voltage Control IfA Internal Seminar Series Jun 2006
J. Löfberg YALMIP: Software for solving convex (and nonconvex) optimization problems American Control Conference, Minneapolis Jun 2006
Th. Besselmann Control and State Estimation of Mechanical Systems With Backlash: A Hybrid Approach vol. AUT06-04, Presented at the HYCON & CEmACS Workshop on Automotive Systems and Control, Lund, Sweden Jun 2006
G. Papafotiou Constrained Optimal Control of dc-dc Converters Hybrid Control - European Network Workshop, Lund, Sweden Jun 2006
F.J. Christophersen Analysis and Post-processing Tools for Controlled Constrained Piecewise Affine Systems University of Zagreb, Croatia Jun 2006
M.N. Zeilinger A novel computational model of the circadian clock in Arabidopsis that incorporates PRR7 and PRR9 SRBR (Society for Research on Biological Rhythms) Biennial Meeting May 2006
G. Papafotiou Model Predictive Control in Power Electronics: A Hybrid Systems Approach Group for Research in Automatic Control Engineering, University of Sannio, Benevento, Italy Apr 2006
I.A. Fotiou Optimal Control of Piece-wise Polynomial Hybrid Systems Using Cylindrical Algebraic Decomposition HSCC (Hybrid Systems: Computation and Control ), Santa Barbara, CA Mar 2006
K. Nolde, H. Vanderschuren Counting to Infinity ... First ETH Symposium on Synthetic Biology, 24. Feb 2006 Feb 2006
C.N. Jones Lexicographic Perturbation for Multiparametric Linear Programming Optimization and Applications Seminar, ETH Zurich Feb 2006
I.A. Fotiou Nonlinear Parametric Optimization Using Cylindrical Algebraic Decomposition IEEE Conference on Decision and Control, Sevilla, Spain Dec 2005
A.G. Beccuti A Hybrid System Approach to Power Systems Voltage Control IEEE Conference on Decision and Control Dec 2005
A.G. Beccuti Kalman Filter Design for Optimal Control of dc Circuits IfA Internal Seminar Series Dec 2005
C.N. Jones Polyhedral Tools for Control Automatic Control Lab, ETH Zentrum Nov 2005
M. Morari Infinite Time Optimal Control for Piecewise Affine Systems: Convergence Results Symposium on Nonlinear Control and Observer Design, Stuttgart, Germany Sep 2005
K. Nolde Optimization Challenges in Control of Thermal Printheads Duisburg, Mathematisches Kolloquium 2005, Universität Duisburg-Essen, Fachbereich Mathematik, Campus Duisburg Jun 2005
K. Nolde Modeling and Optimal Control of Thermal Printheads Bochum, Germany, Automatisierungstechnisches Kolloquium, Ruhr-Universität Bochum May 2005
F.J. Christophersen Optimal Control of Hybrid Systems ETH Zurich, Switzerland May 2005
T. Geyer Optimal Direct Torque Control of Three-Phase Symmetric Induction Motors IEEE Conference on Decision and Control, Atlantis, Paradise Island, The Bahamas Dec 2004
F.J. Christophersen Infinite Time Optimal Control for Piecewise Affine Systems - Convergence Results IEEE Conference on Decision and Control, Atlantis, Paradise Island, Bahamas Dec 2004
T. Geyer Temporal Lagrangian Decomposition of Model Predictive Control for Hybrid Systems IEEE Conference on Decision and Control, Atlantis, Paradise Island, The Bahamas Dec 2004
F.J. Christophersen Constrained Infinite Time Optimal Control for Piecewise Affine Systems Control and Computation Meeting, Grenoble, France Oct 2004
T. Geyer Optimal Control of Switch-mode DC-DC Converters MIT, Boston, USA Jul 2004
T. Geyer Optimal Complexity Reduction of Piecewise Affine Models Based on Hyperplane Arrangements American Control Conference, Boston, Massachusetts Jun 2004
P. Grieder, M. Kvasnica, M. Baotic MPT – A Toolbox for Multi-Parametric Programming (and more) Optimization Seminar - ETHZ and University of Zurich Apr 2004
T. Geyer On the Optimal Control of Switch-mode DC-DC Converters HSCC (Hybrid Systems: Computation and Control ), Philadelphia, USA Mar 2004
T. Geyer Optimal Control of Switch-mode DC-DC Converters Control and Computation Meeting, Rome, Italy Jan 2004
T. Geyer Optimal Direct Torque Control Control and Computation Meeting, Rome, Italy Jan 2004
T. Geyer Hybrid Emergency Voltage Control in Power Systems European Control Conference (ECC), Cambridge Sep 2003
T. Geyer Optimal Direct Torque Control Control and Computation Meeting, Amsterdam, The Netherlands Jun 2003
M. Baotic Optimal Control of Hybrid Systems American Control Conference, Denver, Colorado, USA Jun 2003
M. Baotic Hybrid System Theory Based Optimal Control of an Electronic Throttle American Control Conference, Denver, Colorado, USA. Jun 2003
P. Grieder Complexity Reduction of Model Predictive Control Massachusetts Institute of Technology (MIT) Jun 2003
T. Geyer Efficient Mode Enumeration of Compositional Hybrid Models HSCC (Hybrid Systems: Computation and Control ), Prague Apr 2003
M. Baotic Hybrid System Theory Based Optimal Control of Automotive Systems IEEE Conference on Decision and Control, Las Vegas, Nevada. Dec 2002
F.D. Torrisi Efficient Mode Enumeration of Compositional Hybrid Models Universita di Siena Nov 2002
T. Geyer ABB Case Study: Optimal Control and Analysis Control and Computation Meeting, Ascona, Switzerland Oct 2002
F.D. Torrisi Efficient Mode Enumeration of Compositional Hybrid Models Ascona Oct 2002
M. Baotic Hybrid System Theory Based Optimal Control of an Electronic Throttle Ascona, Ascona Meeting Oct 2002
F. Borrelli Optimal Control of Constrained Discrete Time Systems USA, Department of Chemical Engineering Carnegie Mellon University Pittsburgh, PA 15213-3890. Sep 2002
F. Borrelli Optimal Control of Constrained Discrete Time Systems Santa Barbara, CA, USA, Center for Control Engineering and Computation, University of California. Sep 2002
F. Borrelli Optimal Control of Constrained Discrete Time Systems USA, Department of Chemical Engineering Princeton University Princeton, NJ 08544. Sep 2002
F. Borrelli Optimal Control of Constrained Discrete Time Systems USA, United Technologies Research Center, 411 Silver Lane, MS 129-15, East Hartford, CT 06108. Sep 2002
F. Borrelli Optimal Control of Constrained Discrete Time Systems USA, Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA 02139-4307. Sep 2002
M. Morari, E.N. Pistikopoulos, F. Borrelli, V. Sakizlis, F. III Doyle, E. Gallestey, M. Fodor, R. Mobus, M. Baotic, P. Grieder Hybrid Systems: Modeling, Control Design & Applications American Control Conference Jun 2002
F. Borrelli Constrained Optimal Control for Linear and Hybrid Systems Rocquencourt, Francia, INRIA Apr 2002
G. Ferrari-Trecate Analysis of discrete-time PWA systems with logic states International Workshop on Hybrid Systems: Computation and Control, Stanford, California, USA Mar 2002
F. Borrelli On the optimal control law for linear discrete time hybrid systems International Workshop on Hybrid Systems: Computation and Control, Stanford, California, USA Mar 2002
G. Ferrari-Trecate Modeling and control of co-generation power plants: A hybrid system approach International Workshop on Hybrid Systems: Computation and Control, Stanford, California, USA Mar 2002
T. Geyer Voltage Control in Power Systems: Hybrid Modelling Control and Computation Meeting, Grenoble, France Jan 2002
M. Baotic Efficient On-Line Computation of Constrained Optimal Control IEEE Conference on Decision and Control, Orlando, Florida, pp. 1187-1192 Dec 2001
G. Ferrari-Trecate Moving Horizon Estimation per Sistemi Ibridi Bertinoro (FO), Italy, Scuola di Dottorato CIRA Jul 2001
G. Ferrari-Trecate Identification of Piecewise Affine and Hybrid Systems American Control Conference, Arlington, VA, USA Jun 2001
D. Mignone Reconfiguration Strategies for Hybrid Systems American Control Conference, Arlington (VA), US Jun 2001
F. Borrelli, A. Bemporad, M. Morari, M. Fodor, D. Hrovat An automotive application of MPC: Traction Control American Control Conference, Arlington, VA, USA Jun 2001
G. Ferrari-Trecate Identificazione lineare a tratti di sistemi ibridi dinamico-logici Pavia, Italy, Matematica e Neuroscienze: Metodi, Modelli e Simulazione (Neuromat II), Collegio Ghislieri. Jun 2001
G. Ferrari-Trecate Le reti neurali: una metodologia per l'apprendimento automatico Pavia, Italy, Collegio Ghislieri May 2001
A. Bemporad, F.D. Torrisi Introduzione ai sistemi ibridi Università degli Studi di Firenze, Via di Santa Marta, 3, Mini-corso, Facoltà di Ingegneria May 2001
F. Borrelli A Hybrid Approach to Traction Control HSCC (Hybrid Systems: Computation and Control ), Roma, Italy Mar 2001
G. Ferrari-Trecate Observability and moving horizon estimation for hybrid systems Rocquencourt, France, INRIA Mar 2001
A. Bemporad Optimal Controllers for Hybrid Systems: Stability and Piecewise Linear Explicit Form IEEE Conference on Decision and Control, Sidney, Australia 2000
A. Bemporad The Explicit Solution of LP-Based Receding Horizon Control IEEE Conference on Decision and Control, Sidney, Australia 2000
G. Ferrari-Trecate Stability and Stabilization of Piecewise Affine and Hybrid Systems IEEE Conference on Decision and Control, Sydney, Australia Dec 2000
A. Bemporad Hybrid systems: A mixed-integer approach Minisymposium on Analysis and Control of Dynamical Systems Dec 2000
F.D. Torrisi Performance Analysis of Piecewise Linear Systems and Model Predictive Control Systems IEEE Conference on Decision and Control, Sydney, Australia Dec 2000
F.D. Torrisi Performance Driven Reachability Analysis for Optimal Scheduling and Control of Hybrid Systems IEEE Conference on Decision and Control, Sydney, Australia Dec 2000
F.D. Torrisi HYSDEL Part 1: Models and Language Verification of Hybrid Systems Meeting, Nijmegen (The Netherlands), Esprit Project 26270 VHS Nov 2000
G. Ferrari-Trecate Observability and state-estimation for hybrid systems Rennes, France, INRIA Nov 2000
G. Ferrari-Trecate Le reti neurali regolarizzate Milano, Italy, Matematica e Neuroscienze: Metodi Modelli e Simulazione Oct 2000
D. Mignone Mixed Logic Dynamical Model of a Hydroelectric Power Plant International Conference Automation of Mixed Processes Hybrid Dynamic Systems, Dortmund, Germany Sep 2000
G. Ferrari-Trecate Moving horizon estimation for hybrid systems American Control Conference, Chicago, US Jun 2000
A. Bemporad Hybrid Systems: Control and Scheduling Boston, MA, Dept. of Manufacturing Engineering, Boston University. Jun 2000
D. Mignone Estimation and Control of Hybrid Systems Verification of Hybrid Systems Meeting, Ascona, (Switzerland), Esprit Project 26270 VHS Jun 2000
G. Ferrari-Trecate Hybrid modeling of a hydroelectric power plant Baden, CH, Workshop ETH Zürich, Automatic Control Lab. and ABB. Villa Boveri Jun 2000
F.D. Torrisi On Convexity Recognition of the Union of Polyhedra International Conference on Advances in Convex Analysis and Global Optimization, Samos, Greece Jun 2000
G. Ferrari-Trecate Moving horizon estimation for hybrid systems Baden, CH, Workshop ETH Zürich, Automatic Control Lab and ABB. Villa Boveri. Jun 2000
G. Ferrari-Trecate I sistemi MLD: una metodologia per la modellistica, l'analisi ed il controllo di sistemi ibridi Italy, C.N.R., Area della Ricerca di Genova Jun 2000
G. Ferrari-Trecate A Kalman filtering algorithm for regularization networks American Control Conference, Chicago, US Jun 2000
F. Borrelli Piecewise Linear Optimal Controllers for Hybrid Systems American Control Conference, Chicago, IL, USA Jun 2000
G. Ferrari-Trecate Le reti neurali Bayesiane Pavia (Italy), C.N.R., Istituto di Analisi Numerica. May 2000
F.D. Torrisi Verification of Hybrid Systems Using Mathematical Programming: Results on CS1 Verification of Hybrid Systems Meeting, Amsterdam (The Netherlands), Esprit Project 26270 VHS Feb 2000
F. Borrelli Optimal Control of Hybrid Systems Verification of Hybrid Systems Meeting, Nijmegen, ( VHS) Feb 2000
A. Bemporad An Optimization-Based Approach to Hybrid Systems Zürich, Switzerland, ETH Seminar Jan 2000
G. Ferrari-Trecate Observability and Controllability of Piecewise Affine and Hybrid Systems IEEE Conference on Decision and Control, Phoenix, Arizona, USA Dec 1999
A. Bemporad Optimization-Based Verification of Piecewise Affine and Hybrid Systems Verification of Hybrid Systems Meeting, Grenoble Nov 1999
G. Ferrari-Trecate Oltre i minimi quadrati: le reti neurali Bayesiane Como, Italy, Riunione CIRA, Villa Olmo Oct 1999
A. Bemporad Model Predictive Control and Multiparametric Programming Zurich, Switzerland, Institute for Operations Research, ETH Zurich Sep 1999
G. Ferrari-Trecate Observability of Hybrid Systems Zurich, Switzerland, Institut for Operations Researches, ETH Zurich Sep 1999
A. Bemporad Model Predictive Control --- Ideas for the Next Generation European Control Conference (ECC), Karlsruhe, Germany Sep 1999
D. Mignone An Efficient Branch and Bound Algorithm for State Estimation and Control of Hybrid Systems European Control Conference (ECC), Karlsruhe, Germany Aug 1999
D. Mignone Moving Horizon Estimation for Hybrid Systems and Fault Detection American Control Conference, San Diego, California Jun 1999
A. Bemporad A Framework for Control, Fault Detection, State Estimation, and Verification of Hybrid Systems American Control Conference Jun 1999
A. Bemporad, M. Morari Model Predictive Control: Theory and Practice Zurich, Switzerland, ABB Workshop Apr 1999
A. Bemporad Verification of hybrid systems via mathematical programming International Workshop on Hybrid Systems: Computation and Control, Nijmegen, The Netherlands Mar 1999
A. Bemporad Predictive control of teleoperated constrained systems with unbounded communication delays IEEE Conference on Decision and Control, Tampa, Florida, USA Dec 1998
A. Bemporad Reducing conservativeness in predictive control of constrained systems with disturbances IEEE Conference on Decision and Control, Tampa, Florida, USA Dec 1998
A. Bemporad Model predictive control and hybrid systems Cambridge, USA, Laboratory for Information and Decision Systems, Massachusetts Institute of Technology Dec 1998
A. Bemporad Model predictive control of hybrid systems Grenoble, Frankreich, Invited speaker, School on Computational Aspects and Applications of Hybrid Systems, KIT Workshop on Verification of Hybrid Systems. Oct 1998
A. Bemporad A tutorial on model predictive control Lausanne, Schweiz, Institut d'automatique, EPF Lausanne Oct 1998
G. Ferrari-Trecate Finite-dimensional approximation of regression with gaussian processes Zurich, Switzerland, ETH Zurich Jun 1998
G. Ferrari-Trecate Identification of NARX models using regularization networks: A consistency result IFAC World Congress, Anchorage, Alaska, Computational Intelligence May 1998
G. Ferrari-Trecate Explicit formulas for the equivalent degrees of freedom in non-parametric regression Birmingham, Neural Computing Research Group, Aston University. Jan 1998
G. Ferrari-Trecate Consistent Identification of nonlinear ARX models via regularization networks Birmingham, Neural Computing Research Group, Aston University. Jan 1998
A. Bemporad, A. Casavola, E. Mosca Gestione del Comando per Sistemi Lineari Vincolati Catania, Italy, Convegno Nazionale CIRA Sep 1997
A. Bemporad Predictive reference governors for constrained systems Zurich, Switzerland, ETH Zürich Aug 1997
A. Bemporad, T.J. Tarn On-line path parameterization for robots with constraints Italy, University of Siena Jun 1997
A. Bemporad, T.J. Tarn On-line path parameterization for robots with constraints Italy, Politecnico di Torino May 1997
A. Bemporad, T.J. Tarn On-line path parameterization for robots with constraints Italy, University of Florence Apr 1997
(07)Award
S. Richter Stefan Richter receives the ETH medal 2013 Nov 2013
S. Richter Stefan Richter receives the ABB-Forschungspreis 2013 Nov 2013
Ph. Rostalski ETH Medal Jan 2010
M.N. Zeilinger General Chairs' Recognition Award for Interactive Papers at the 48th CDC IEEE Conference on Decision and Control, Shanghai, China Dec 2009
M.N. Zeilinger 3rd prize of the BFG'09 Best Talk Award Belgian-French-German Conference on Optimization, BFG Sep 2009
T. Geyer Best presentation in the session "Complexity Issues in Hybrid Systems" WeM17 American Control Conference, Boston, Massachusetts Jun 2004
M. Baotic Best presentation in the session “Optimal Control Computation” FM13 American Control Conference, Denver, Colorado, USA, IEEE Jun 2003
M. Baotic Best presentation in the session “Hybrid Systems III” FP10 American Control Conference, Denver, Colorado, USA Jun 2003
F. Borrelli ETH Medal Dec 2002
M. Baotic Silver plaque "Josip Loncar" for Outstanding Master Thesis University of Zagreb, Croatia, Faculty of Electrical Engineering and Computing. 2001
M. Baotic Petar A. Kokotovic Best Student Paper Award Mediterranean Conference on Control and Automation, Dubrovnik, Croatia, June 27-29 Jun 2001
G. Ferrari-Trecate Best Presentation in the Session “Multi-Model Techniques in Nonlinear Process Control” WA07 American Control Conference, Arlington, Virginia, US Jun 2001
D. Mignone Best Presentation Award of Session MM07 "Hybrid Systems II" American Control Conference, Arlington, VA, USA Jun 2001
G. Ferrari-Trecate Best presentation in the session “Nonlinear Identification” WP10 American Control Conference, Aarlington, Virginia, US, IEEE Jun 2001
G. Ferrari-Trecate Best presentation in the session “Estimation and Filtering” TM09-2 American Control Conference, Chicago, Illinois, USA. Jun 2000
D. Mignone Best Presentation Award of Session TM-18 "Hybrid Systems" American Control Conference, San Diego, CA, USA Jun 1999
(14)Committee
A. Bemporad IEEE Transactions on Automatic Control Associate editor 2001
A. Bemporad Chair at the international conference CDC98 (session TM02-Control of Communication Systems) 1998
(11)Postgraduate Thesis
D. Mignone Moving Horizon Estimation and Fault Detection of Mixed Logic Dynamical Systems ETH Zuerich, Postdiploma Thesis, Automatic Control Laboratory. Aug 1999
(13)Semester/Bachelor Thesis
C. Dobler Implementation of Ad-hoc Low Bandwidth Mesh Network for Aircraft Semester/Bachelor Thesis, FS 09 Jan 2009
K. Chung Robustness of Hybrid MPC Controllers for a Mechanical System with Backlash Semester/Bachelor Thesis, FS 08 May 2008
Thomas Loser Hybrid Estimation for a Mechanical System with Backlash Semester/Bachelor Thesis HS 07 Dec 2007
Jonas Mühlethaler Virtual Experiment for Stabilization of Airplanes Semester/Bachelor Thesis, SS 07 Jul 2007
Ch. Conte Continuous-Time MILP Models for Employee Scheduling in a Retail Semester/Bachelor Thesis, HS 07 Jun 2007
Felix Althaus Identification and control of a mechanical system with backlash Semester/Bachelor Thesis, WS 06/07 Apr 2007
Thomas Jericke Efficient implementation of constraint reduction for convex polytopes Semester/Bachelor Thesis, SS 06 Aug 2006
Michèle J. Arnold Hybrid modeling and optimal control of a step-up DC-DC converter Semester/Bachelor Thesis, SS 05 Jul 2005
Benedikt J. Galliker Application of MPC to the power management of a parallel hybrid electric vehicle Semester/Bachelor Thesis, SS 05 Jul 2005
R. Möbus Position Control for Non-Holonomic Mobile Robots Term Project at the Automatic Control Lab, ETH Zürich, WS 99/00 Feb 2000
(12)Diploma/Master Thesis
M. Schmitt Application of Interior Point Methods to Complementarity Problems in Hybrid Systems Control Master Thesis, FS13 (10138) Nov 2013
René Waldvogel MPC Control of a Ball on Plate System: Theory and Implementation Zurich Sep 2010
Felix Althaus Model Predictive Control for cascaded river power plants Master Thesis, FS 08 Jul 2008
S. Richter Probabilistic Hybrid State Estimation of Piecewise Affine Systems Through Qualitative Approximation Jan 2007
M. Uhr Optimal Operation of a Hydroelectric Power System Subject to Stochastic Inflows and Load Diploma/Master Thesis, SS 06 Nov 2006
Martin Walder Neue Reglerkonzepte für die Fahrzeugslängsregelung Diploma/Master Thesis, SS 06 Oct 2006
C. Setz, A. Heinrich Application of Model Predictive Control to a Cascade of River Power Plants Diploma/Master Thesis, WS 05/06 May 2006
M.N. Zeilinger Modeling and Analysis of the circadian clock in Arabidopsis University of California, Santa Barbara (UCSB), Department of Chemical Engineering Apr 2006
Marco Lüthi ACTUATOR SATURATION AND ALLOCATION ISSUES IN CONTROL OF FLUID FLOW NETWORKS Diploma/Master Thesis, WS 03/04 Apr 2004
Gabriela Glanzmann, Martin von Siebenthal Supervisory Water Level Control for Cascaded River Power Plants vol. AUT04-11 Apr 2004
I.A. Fotiou Stationary – nonstationary signal separation with use of wavelet packets transform and fractal dimension (in Greek). Aristotle University of Thessaloniki, Dept. of Electrical and Computer Engineering Sep 2003
F. Borrelli, L. Glielmo A technique for the inversion of linear singularly perturbed systems Diploma Thesis at "Dipartimento di Informatica Sistemistica", Univertsita' degli Studi di Napoli Federico II. 1998
(10)Course
F. Borrelli, M. Morari Analysis and Control of Hybrid Systems International Conference on Motion and Vibration Control, Saitama, Japan Aug 2002
A. Bemporad Hybrid Systems University of Pisa, Italy, Short course Dec 2001
F. Borrelli Constrained Optimal Control for Linear and Hybrid Systems Universita' del Sannio, Benevento Italy Dec 2001
F. Borrelli Constrained Optimal Control for Linear and Hybrid Systems Universita' Federico II, Napoli, Italy Dec 2001
A. Bemporad Hybrid and Explicit Model Predictive Control Bertinoro, Italy, PhD School http://sisdin.unipv.it/lab/didattica/conpred/conpred.htm. Jul 2001
A. Bemporad Model Predictive Control Dearborn, USA, short course, Ford Research Laboratories Jun 2001
F. Borrelli Optimal Control and Mathematical Programming Universita' del Sannio, Benevento, Italy May 2001
G. Ferrari-Trecate Le reti neurali: una metodologia per l'apprendimento automatico Universitá di Milano – Bicocca, Italy, Scuola per le Applicazioni della Matematica nell’Industria (SAMI), Dipartimento di Matematica e Applicazioni. May 2001
F. Borrelli Short Course on Model Predictive Control Universita' Federico II of Napoli, Italy Dec 2000